CN115345023A

CN115345023A - Fusion positioning method and device

Info

Publication number: CN115345023A
Application number: CN202211059115.9A
Authority: CN
Inventors: 袁赫良; 方兴; 罗雷刚; 赵启龙; 高喜乐; 何宇力; 王超
Original assignee: Alibaba China Co Ltd
Current assignee: Alibaba China Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2022-11-15

Abstract

The present disclosure provides a fusion positioning method and device, including: the method comprises the steps of obtaining satellite factor residual errors, network factor residual errors and inertia factor residual errors which are obtained by positioning carriers by adopting different positioning technologies, wherein the satellite factor residual errors are adjusted in a self-adaptive mode based on satellite observation values obtained by observing satellites by the carriers, carrying out fusion processing on the satellite factor residual errors, the network factor residual errors and the inertia factor residual errors by adopting a factor graph algorithm to obtain fusion results, and carrying out iteration solving on the fusion results to obtain state quantities of the carriers, so that the defects of strong limitation and poor expansibility caused by fusion positioning in a Kalman filtering mode are overcome, the flexibility and the expandability of the fusion positioning are improved, and the robustness of the fusion positioning can be improved.

Description

Fusion positioning method and device

Technical Field

The present disclosure relates to the field of positioning technologies, and in particular, to a fusion positioning method and apparatus.

Background

Positioning technologies are applied in maps, which may include satellite positioning, inertial positioning, and network positioning. In some examples, the two kinds of positioning in the positioning technology may be fused by means of kalman filtering to achieve fused positioning, such as fusing satellite positioning and inertial positioning by means of kalman filtering to obtain the state quantity of the carrier. However, the fused positioning using kalman filtering is relatively limited and scalable.

Disclosure of Invention

The disclosure provides a fusion positioning method and device for improving effectiveness and reliability of positioning.

In a first aspect, an embodiment of the present disclosure provides a fusion positioning method, including:

acquiring satellite factor residual errors, network factor residual errors and inertia factor residual errors which are obtained by positioning a carrier by adopting different positioning technologies, wherein the satellite factor residual errors are adaptively adjusted based on satellite observation values obtained by observing a satellite by the carrier;

and performing fusion processing on the satellite factor residual error, the network factor residual error and the inertia factor residual error by adopting a factor graph algorithm to obtain a fusion result, and performing iterative solution on the fusion result to obtain the state quantity of the carrier.

In one embodiment of the present disclosure, obtaining the satellite factor residual comprises:

acquiring satellite observation values corresponding to the satellites obtained by observing the satellites based on the carrier;

and constructing a satellite factor residual error between each satellite observation value and the state quantity of the carrier according to the satellite observation value, the preset satellite factor covariance and the dynamic weight factor which are respectively corresponding to each satellite, wherein the dynamic weight factor of each satellite is adaptively adjusted based on the satellite observation value of the satellite.

In an embodiment of the disclosure, the constructing a satellite factor residual error between each satellite observation value and the state quantity of the carrier according to the satellite observation value, the preset satellite factor covariance, and the dynamic weight factor respectively corresponding to each satellite includes:

for each satellite, constructing a pseudo-range residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of the satellite, and constructing a pseudo-range rate residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of the satellite;

and constructing the satellite factor residual error for representing the integral residual error between each satellite observation value and the state quantity of the carrier according to the pseudo-range residual error, the pseudo-range rate residual error, the preset satellite factor covariance and the dynamic weight factor which are respectively corresponding to each satellite.

In one embodiment of the present disclosure, for each satellite, the satellite observation value corresponding to the satellite includes: a pseudorange of the satellite, a pseudorange rate of the satellite, a position of the satellite, a clock bias of the satellite, a velocity of the satellite, a clock drift of the satellite, and a coordinate difference between the satellite and the carrier;

wherein the pseudo-range residual of the satellite is constructed based on the pseudo-range of the satellite, the position in the state quantity of the carrier, the clock error in the state quantity of the carrier, and the clock error of the satellite; the pseudo-range rate residuals of the satellite are constructed based on the pseudo-range rates of the satellite, the velocity and clock drift in the state quantities of the carrier, the clock drift of the satellite, and the coordinate difference between the satellite and the carrier.

In one embodiment of the present disclosure, obtaining the network factor residual includes:

obtaining a network positioning result obtained by positioning the carrier based on a positioning technology of network positioning, wherein the network positioning result comprises a network positioning position of the carrier and a first confidence of the network positioning position;

determining a network positioning type attribute of the network positioning position, wherein the network positioning type attribute is a reliable type of which the first confidence coefficient reaches a first threshold value, or is an unreliable type of which the first confidence coefficient does not reach the first threshold value;

and constructing a network factor residual error between the network positioning position and the position in the state quantity of the carrier in a mode corresponding to the network positioning type attribute.

In one embodiment of the present disclosure, the network location type attribute is the reliable type; the network factor residual is constructed according to a first difference value between the network positioning position and a position in the state quantity of the carrier, a preset maximum residual value, a preset network factor covariance, a preset minimum distance and a preset maximum distance.

In an embodiment of the present disclosure, if the first difference is smaller than the preset minimum distance, the network factor residual is zero;

if the first difference value is larger than the preset maximum distance, determining the network factor residual error based on the preset maximum residual error value and the preset network factor covariance;

if the first difference is located between the preset minimum distance and the preset maximum distance, the network factor residual is determined by a product between the preset maximum residual value and a quotient and the preset network factor covariance, wherein the quotient is a quotient between a second difference and a third difference, the second difference is a difference between the first difference and the preset minimum distance, and the third difference is a difference between the maximum preset distance and the minimum preset distance.

In one embodiment of the present disclosure, the network location type attribute is the unreliable type; and the network factor residual error is constructed by taking a difference value between the network positioning position and a preset precision radius as a minimum value of the position in the state quantity of the carrier and taking a sum value between the network positioning position and the preset precision radius as a maximum value of the position in the state quantity of the carrier.

In one embodiment of the present disclosure, obtaining the inertia factor residual includes:

obtaining an inertial positioning result obtained by positioning the carrier based on a positioning technology of inertial positioning, wherein the inertial positioning result comprises inertial positioning information of the carrier and a second confidence coefficient of the inertial positioning information;

determining an inertial positioning type attribute of the inertial positioning information, wherein the inertial positioning type attribute is an available type of which the second confidence coefficient reaches a second threshold value, or an unavailable type of which the second confidence coefficient does not reach the second threshold value;

and constructing an inertia factor residual error between the inertia positioning result and the position and the speed in the state quantity of the carrier in a mode corresponding to the inertia positioning type attribute.

In one embodiment of the present disclosure, the inertial positioning type attribute is the available type; the inertial positioning information comprises a current time, and a position variation and a speed variation between next times adjacent to the current time; the inertia factor residual is constructed according to the position variation, the speed variation, the position and the speed of the current time in the state quantity of the carrier, the position and the speed of the next time adjacent to the current time in the state quantity of the carrier, and a preset inertia factor covariance.

In one embodiment of the present disclosure, the inertial positioning type attribute is the unavailable type; the inertia factor residual is constructed according to a time difference value, a position and a speed of a current time in the state quantity of the carrier, a position and a speed of a next time adjacent to the current time in the state quantity of the carrier, and a preset inertia factor covariance, wherein the time difference value is a time difference value between the current time and the next time adjacent to the current time.

In an embodiment of the present disclosure, the performing fusion processing on the satellite factor residual, the network factor residual, and the inertia factor residual by using the factor graph algorithm to obtain a fusion result, and performing iterative solution on the fusion result to obtain the state quantity of the carrier includes:

constructing a factor overall residual of the sum of the satellite factor residual, the network factor residual and the inertia factor residual;

and minimizing the whole factor residual by adopting the factor graph algorithm to obtain the state quantity of the carrier when the whole factor residual is minimized.

In a second aspect, an embodiment of the present disclosure provides a fusion positioning apparatus, including:

the device comprises an acquisition unit, a processing unit and a processing unit, wherein the acquisition unit is used for acquiring a satellite factor residual error, a network factor residual error and an inertia factor residual error which are obtained by positioning a carrier by adopting different positioning technologies, and the satellite factor residual error is adaptively adjusted based on a satellite observation value obtained by observing a satellite by the carrier;

and the solving unit is used for carrying out fusion processing on the satellite factor residual error, the network factor residual error and the inertia factor residual error by adopting a factor graph algorithm to obtain a fusion result, and carrying out iterative solving on the fusion result to obtain the state quantity of the carrier.

In one embodiment of the present disclosure, the obtaining unit includes:

the first acquisition subunit is used for acquiring satellite observation values corresponding to the satellites obtained by observing the satellites based on the carrier;

and the first construction subunit is configured to construct a satellite factor residual error between each satellite observation value and the state quantity of the carrier according to a satellite observation value, a preset satellite factor covariance, and a dynamic weight factor that each satellite corresponds to, wherein the dynamic weight factor of each satellite is adaptively adjusted based on the satellite observation value of the satellite.

In one embodiment of the disclosure, the first building subunit comprises:

the first construction submodule is used for constructing a pseudo-range residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of each satellite, and constructing a pseudo-range rate residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of each satellite;

and the second construction submodule is used for constructing the satellite factor residual error for representing the integral residual error between each satellite observation value and the state quantity of the carrier according to the pseudo-range residual error, the pseudo-range rate residual error, the preset satellite factor covariance and the dynamic weight factor which are respectively corresponding to each satellite.

In one embodiment of the present disclosure, for each satellite, the satellite observation corresponding to the satellite includes: a pseudorange of the satellite, a pseudorange rate of the satellite, a position of the satellite, a clock bias of the satellite, a velocity of the satellite, a clock drift of the satellite, and a coordinate difference between the satellite and the carrier;

wherein the pseudo-range residual of the satellite is constructed based on the pseudo-range of the satellite, the position in the state quantity of the carrier, the clock error in the state quantity of the carrier, and the clock error of the satellite; the pseudorange rate residuals for the satellites are constructed based on the pseudorange rates for the satellites, the velocities of the satellites, the velocities and clock drifts in the state quantities of the carrier, the clock drifts of the satellites, and the coordinate differences between the satellites and the carrier.

In one embodiment of the present disclosure, the obtaining unit includes:

a second obtaining subunit, configured to obtain a network positioning result obtained by positioning the carrier based on a positioning technology for network positioning, where the network positioning result includes a network positioning location of the carrier and a first confidence of the network positioning location;

a first determining subunit, configured to determine a network positioning type attribute of the network positioning location, where the network positioning type attribute is a reliable type for which the first confidence reaches a first threshold, or is an unreliable type for which the first confidence does not reach the first threshold;

and the second construction subunit is used for constructing a network factor residual error between the network positioning position and the position in the state quantity of the carrier in a mode corresponding to the network positioning type attribute.

In an embodiment of the disclosure, if the first difference is smaller than the preset minimum distance, the network factor residual is zero;

if the first difference is located between the preset minimum distance and the preset maximum distance, the network factor residual is determined as a product between the preset maximum residual value and a quotient and a preset network factor covariance, wherein the quotient is a quotient between a second difference and a third difference, the second difference is a difference between the first difference and the preset minimum distance, and the third difference is a difference between the maximum preset distance and the minimum preset distance.

In one embodiment of the present disclosure, the network location type attribute is the unreliable type; the network factor residual is constructed by taking a difference value between the network positioning position and a preset precision radius as a minimum value of positions in the state quantity of the carrier and taking a sum value between the network positioning position and the preset precision radius as a maximum value of the positions in the state quantity of the carrier.

In one embodiment of the present disclosure, the obtaining unit includes:

a third obtaining subunit, configured to obtain an inertial positioning result obtained by positioning the carrier based on a positioning technique of inertial positioning, where the inertial positioning result includes inertial positioning information of the carrier and a second confidence of the inertial positioning information;

a second determining subunit, configured to determine an inertial positioning type attribute of the inertial positioning information, where the inertial positioning type attribute is an available type where the second confidence reaches a second threshold, or is an unavailable type where the second confidence does not reach the second threshold;

and the third construction subunit is used for constructing an inertia factor residual error between the inertia positioning result and the position and the speed in the state quantity of the carrier in a mode corresponding to the inertia positioning type attribute.

In one embodiment of the present disclosure, the solving unit includes:

a fourth construction subunit, configured to construct a factor overall residual of a sum of the satellite factor residual, the network factor residual, and the inertia factor residual;

and the processing subunit is used for performing minimization processing on the factor integral residual by adopting the factor graph algorithm to obtain the state quantity of the carrier when the factor integral residual is minimized.

In a third aspect, an embodiment of the present disclosure provides an electronic device, including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein, the first and the second end of the pipe are connected with each other,

the memory stores instructions executable by the at least one processor to enable the electronic device to perform the method of any one of the first aspect of the disclosure.

In a fourth aspect, embodiments of the present disclosure provide a computer-readable storage medium on which a computer program is stored, the computer program, when executed by a processor, implementing the method of any one of the first aspects of the present disclosure.

In a fifth aspect, the disclosed embodiments provide a computer program product comprising a computer program that, when executed by a processor, performs the method of any one of the first aspects of the disclosure.

The embodiment of the disclosure provides a fusion positioning method and a fusion positioning device, which comprise the following steps: the method comprises the steps of obtaining a satellite factor residual error, a network factor residual error and an inertia factor residual error which are obtained by positioning a carrier by adopting different positioning technologies, wherein the satellite factor residual error is adaptively adjusted based on a satellite observation value obtained by observing a satellite by the carrier, fusing the satellite factor residual error, the network factor residual error and the inertia factor residual error by adopting a factor graph algorithm to obtain a fusion result, and iteratively solving the fusion result to obtain a state quantity of the carrier, determining the state quantity of the carrier by adopting a factor graph algorithm to the satellite factor residual error, the network factor residual error and the inertia factor residual error, wherein the satellite factor residual error has the technical characteristics of being adaptively adjusted.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure 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 introduced below, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a flow chart of a fusion positioning method according to an embodiment of the present disclosure;

FIG. 2 is a flow chart of a fusion positioning method according to another embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a fusion localization method of the present disclosure;

FIG. 4 is a schematic diagram of the fusion localization method of the present disclosure;

FIG. 5 is a schematic view of a fusion positioning device according to one embodiment of the present disclosure;

FIG. 6 is a schematic view of a fusion locator of another embodiment of the present disclosure;

fig. 7 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present disclosure.

With the foregoing drawings in mind, certain embodiments of the disclosure have been shown and described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.

The terms "first," "second," "third," and the like in the description and claims of the present disclosure and in the foregoing drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the disclosure described herein are capable of operation in sequences other than those illustrated or otherwise described herein.

Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

To facilitate the reader's understanding of the present disclosure, at least some of the terms of the present disclosure are now explained as follows:

satellite Positioning (Satellite Positioning) is a technology for Positioning a carrier by using a Satellite, such as Global Positioning System (GPS), and can realize functions of Positioning, navigation, time service, and the like.

Inertial positioning refers to a technique of sensing a motion state of a carrier by using a sensor (or an inertial device) such as a gyroscope or an accelerometer provided on the carrier, and positioning the carrier based on the motion state.

Network positioning refers to a technology of positioning a carrier by matching a base station and a wireless fidelity (WiFi) searched by the carrier with a fingerprint database in a fingerprint positioning manner.

Pseudo range (pseudo range) refers to the distance between the carrier containing the error and the satellite measured.

The pseudorange rate (Delta pseudo range), also called Delta pseudorange, refers to the measured relative velocity between the carrier containing the error and the satellite.

Clock error refers to the difference between a reference clock and a clock of an object (such as a satellite or a carrier) in time.

The clock drift refers to a frequency drift difference value of a reference clock and an object (such as a satellite or a carrier) clock in time.

Comparing the three positioning modes, the satellite positioning is a full-time and all-weather positioning method, and a high-precision positioning result can be obtained in outdoor open environment. However, in satellite positioning, the satellite signals are susceptible to positioning surroundings, such as in an indoor or semi-indoor (i.e. partially indoor) scenario, which may result in failure to position or large errors in positioning results.

The inertial positioning is to sense the motion state of the carrier by using sensors such as a gyroscope, an accelerometer and the like, is relatively insusceptible to positioning environment and the like, and can obtain a high-precision positioning result in a short time. However, sensors such as gyroscopes and accelerometers have accumulated errors, for example, the carrier continuously moves with the passage of time, and the accuracy of the positioning result gradually decreases.

Network positioning can meet indoor and outdoor positioning requirements in urban environments, but positioning accuracy is relatively low, positioning stability depends on a network strongly, and positioning stability is relatively poor.

In summary, different positioning methods have respective advantages and disadvantages, and the fused positioning refers to effectively fusing different positioning methods, such as fusing satellite positioning and inertial positioning, or fusing satellite positioning and network positioning, so as to achieve the purpose of complementing advantages and disadvantages and meet the positioning requirements in different scenes.

In some embodiments, satellite positioning and inertial positioning may be fused using Kalman filtering (Kalman filtering). The Kalman filtering is an algorithm for performing optimal estimation on the system state by using a linear system state equation and inputting and outputting observation data through the system.

Because the Kalman filtering is a linear system state equation, a definite expression is needed to fuse the satellite positioning and the inertial positioning based on the definite expression, so that the positioning performance improvement possibly brought by adding other positioning means is neglected by adopting the Kalman filtering fusion positioning.

As Kalman filtering needs a definite expression, a fusion algorithm is relatively fixed and inflexible during fusion positioning, and the expansion performance is relatively poor.

In order to avoid the above problems, the inventors of the present disclosure have made creative efforts to obtain the inventive concept of the present disclosure: the carrier is positioned by combining three positioning technologies to obtain factor residual errors corresponding to the positioning technologies, the satellite factor residual errors obtained by the satellite positioning technologies are adaptively adjusted based on satellite observation values obtained by observing the satellite by the carrier, and a factor graph algorithm (FGO) is adopted to fuse the three factor residual errors to obtain a fusion result, so that iterative solution is performed on the fusion result to obtain the state quantity of the carrier (or the positioning result can be called as the carrier).

Hereinafter, the technical means of the present disclosure will be described in detail by specific examples. It should be noted that the following several specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

Referring to fig. 1, fig. 1 is a flowchart illustrating a fusion positioning method according to an embodiment of the disclosure, as shown in fig. 1, the method includes:

s101: and acquiring satellite factor residual errors, network factor residual errors and inertia factor residual errors which are obtained by positioning carriers by adopting different positioning technologies. The satellite factor residual error is adjusted based on satellite observation values obtained by observing satellites through the carrier.

For example, the execution subject of the fusion positioning method of the embodiment of the present disclosure is a fusion positioning device, and the fusion positioning device may be a device disposed on a carrier, such as a processor or a chip disposed on the carrier. The carrier may be a server, a computer, or a terminal device (such as a user device or a vehicle-mounted terminal), and the like, which are not listed here.

In connection with the above analysis, this step can be understood as: positioning the carrier by adopting a satellite positioning technology to obtain a satellite factor residual error; sampling a positioning technology positioning carrier of network positioning to obtain a network factor residual error; and positioning the carrier by adopting an inertial positioning technology to obtain an inertial factor residual error. And the satellite factor residual is adaptively adjustable.

The residual error is the difference between the actual observed value and the estimated value. Accordingly, the satellite factor residual may be understood as a difference between an actual satellite observation value and an observation value constructed by a state quantity of carrier positioning information, the network factor residual may be understood as a difference between a positioning result based on network positioning and carrier positioning information, and the inertia factor residual may be understood as a difference between a positioning result based on inertial positioning and carrier positioning information.

S102: and performing fusion processing on the satellite factor residual error, the network factor residual error and the inertia factor residual error by adopting a factor graph algorithm to obtain a fusion result, and performing iterative solution on the fusion result to obtain the state quantity of the carrier.

The state quantity of the carrier refers to the content related to the position of the carrier, that is, the positioning result of the carrier obtained by positioning the carrier by fusing the three positioning technologies. For example, the state quantity of the carrier may include contents of multiple dimensions, and the contents of each dimension are related to the position of the carrier, such as the position (e.g., three-dimensional coordinates) of the carrier, the speed (e.g., three-dimensional speed) of the carrier, the clock error of the carrier, and the clock drift of the carrier.

Based on the above analysis, the present disclosure provides a fusion localization method, including: the method comprises the steps of obtaining a satellite factor residual error, a network factor residual error and an inertia factor residual error which are obtained by positioning a carrier by adopting different positioning technologies, wherein the satellite factor residual error is adaptively adjusted based on a satellite observation value obtained by observing a satellite by the carrier, and the satellite factor residual error, the network factor residual error and the inertia factor residual error are subjected to fusion processing by adopting a factor graph algorithm to obtain a fusion result, and the fusion result is subjected to iterative solution to obtain a state quantity of the carrier.

For the reader to more fully understand the principles underlying the present disclosure, the present disclosure will now be described in more detail with reference to fig. 2. Fig. 2 is a flowchart of a fusion positioning method according to another embodiment of the disclosure, and as shown in fig. 2, the method includes:

s201: and acquiring satellite observation values corresponding to the satellites obtained by observing the satellites based on the carrier.

It should be understood that, in order to avoid tedious statements, the present embodiment will not be described again with respect to the same technical features of the present embodiment as the above embodiments.

The carrier may establish a communication link with a satellite, obtain satellite signals of an observation satellite based on the communication link, and determine a satellite positioning result based on the satellite signals. For example, the number of satellites may be N, which is a positive integer greater than or equal to 1.

It should be noted that the fusion positioning method of the present disclosure may be executed based on a time (or referred to as an epoch), for example, the fusion positioning method of the present disclosure may be executed based on one epoch, or the fusion positioning method of the present disclosure may be executed based on a plurality of epochs.

For example, if the fusion positioning method of the present disclosure is executed with reference to one epoch, it may be understood that the state information of the carrier at the current time is determined based on the fusion positioning method of the present disclosure. If the fusion positioning method of the present disclosure is executed based on a plurality of epochs, it can be understood that the fusion positioning method of the present disclosure is executed synchronously to determine the state information of the carrier of each epoch.

For example, if the number of epochs is ten, a satellite observation value corresponding to each satellite obtained by observing each satellite in the epoch by the carrier is acquired for each epoch.

S202: and constructing a satellite factor residual error between each satellite observation value and the state quantity of the carrier according to the satellite observation value, the preset satellite factor covariance and the dynamic weight factor which are respectively corresponding to each satellite, wherein the dynamic weight factor of each satellite is adaptively adjusted based on the satellite observation value of the satellite.

The dynamic weight factor can be adaptively adjusted, so that the satellite factor residual error is minimum. The dynamic weighting factor is greater than 0 and less than 1.

For example, covariance may be used to measure the error between two variables. Such as an error between the observed satellite position fix and the estimated satellite position fix. The preset satellite factor covariance may be determined based on historical records, requirements, experiments, and the like, and this embodiment is not limited. Different satellites may have different satellite factor covariances, that is, the satellite factor covariances of different satellites may be the same or different.

The dynamic weight factors have the property of dynamic adjustment, so the dynamic weight factors can be initialized in advance, the initialization value can also be determined based on the modes of requirements, historical records, experiments and the like, and then the dynamic weight factors are adjusted in a self-adaptive mode based on the satellite factor residual errors, so that the adjusted dynamic weight factors meet the condition that the satellite factor residual errors have the minimum value, and the robustness of fusion positioning is improved.

In some embodiments, S202 may include the steps of:

the first step is as follows: and aiming at each satellite, constructing a pseudo-range residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of the satellite, and constructing a pseudo-range rate residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of the satellite.

For example, after obtaining a satellite observation of a certain satellite, a difference between the satellite observation of the certain satellite and the state quantity of the carrier can be determined from two aspects, including: a pseudorange residual in terms of pseudoranges, and a pseudorange rate residual in terms of pseudorange rates.

In combination with the above analysis, the state quantity of the carrier may include contents of multiple dimensions, such as position, velocity, clock error, clock drift, and the like, and accordingly, the pseudorange residuals may represent the difference between the satellite observations and the state quantity of the carrier in the position dimension and the clock error dimension. The pseudorange rate residuals may characterize the difference between the satellite observations and the state quantities of the carrier in the velocity dimension and the clock drift dimension.

In some embodiments, for each satellite, the satellite observations for that satellite include: a pseudorange of the satellite, a pseudorange rate of the satellite, a position of the satellite, a clock error of the satellite, a velocity of the satellite, a clock drift of the satellite, and a coordinate difference between the satellite and the carrier.

The coordinate difference between the satellite and the carrier is a normalized coordinate difference, that is, a coordinate difference obtained by normalizing the coordinate of the satellite and the coordinate of the carrier. The pseudo-range residuals of the satellites are constructed based on the pseudo-range of the satellite, the position in the state quantity of the carrier, the clock error in the state quantity of the carrier, and the clock error of the satellite.

The pseudorange rate residuals for the satellites are constructed based on the pseudorange rates for the satellites, the velocities of the satellites, the velocity and clock drift in the state quantities of the carrier, the clock drift of the satellites, and the coordinate differences between the satellites and the carrier.

Illustratively, the pseudorange residuals for a time k satellite i may be constructed based on equation 1

Formula 1:

wherein the content of the first and second substances,

for the pseudorange of the satellite i at time k,

is the position of the satellite i at time k,

clock error, P, of satellite i at time k _k Is the position in the state quantity of the support, t _k Is the clock difference in the state quantity of the carrier.

Pseudo-range rate residual error of k-time satellite i can be constructed based on equation 2

Formula 2:

wherein, the first and the second end of the pipe are connected with each other,

is the pseudorange rate for satellite i at time k,

is the coordinate difference between the satellite i and the carrier at time k,

is the velocity of the satellite i at time k,

clock drift, V, for a satellite i at time k _k Is the speed in the state quantity of the carrier, f _k Is the clock drift in the state quantity of the carrier.

In this embodiment, by constructing the pseudorange residual and the pseudorange rate residual in combination with the above method, the difference between the satellite observation value and the state information of the carrier in four dimensions can be relatively accurately represented, where the four dimensions are the velocity dimension, the position dimension, the clock error dimension, and the clock drift dimension, so that the position-related information of the carrier can be determined from multiple dimensions, and the reliability and effectiveness of carrier positioning are improved.

In some embodiments, the pseudorange rates may be obtained by way of carrier phase measurements. For example, if the carrier is provided with a receiver, the receiver observes the carrier phase observed value of the satellite, and calculates the pseudo-range rate by using the variation of the carrier phase observed value at the adjacent time.

In other embodiments, the pseudorange rates may also be obtained by way of satellite doppler measurements. For example, the pseudorange rate may be calculated by receiving a doppler shift or doppler count from a satellite signal (e.g., a radio signal) transmitted by a survey satellite at a receiver.

The second step is as follows: and constructing a satellite factor residual error for representing the whole residual error between each satellite observation value and the state quantity of the carrier according to the pseudo-range residual error, the pseudo-range rate residual error, the preset satellite factor covariance and the dynamic weight factor which are respectively corresponding to each satellite.

And the dynamic weight factor of each satellite is adaptively adjusted based on the satellite observation value of the satellite.

Illustratively, the satellite factor residual E at time k can be constructed based on equation 3 _sat,k And, formula 3:

for the pseudorange residuals for satellite i at time k,

is a dynamic weighting factor for the pseudorange of satellite i,

a preset satellite factor covariance for the pseudorange of satellite i,

is the covariance of the dynamic weight factors of the pseudoranges of satellite i,

for the pseudorange rate residuals for satellite i at time k,

a dynamic weighting factor for the pseudorange rate of satellite i,

a preset satellite factor covariance for the pseudorange rate of satellite i,

and N is the total number of satellites observed by the carrier at the moment k.

It should be noted that, during satellite positioning, a satellite signal may be interfered, so that an observed pseudorange and a pseudorange rate include an error, and thus an error cannot be accurately reflected by a preset satellite factor covariance.

S203: and acquiring a network positioning result obtained by positioning the carrier based on a positioning technology of network positioning.

The network positioning result comprises a network positioning position of the carrier and a first confidence degree of the network positioning position.

The method for obtaining the network positioning result is not limited in this embodiment, and the network positioning result may be obtained by using the fingerprint database as described in the above example.

S204: a network location type attribute of the network location position is determined.

The network positioning type attribute is a reliable type with the first confidence coefficient reaching a first threshold value, or is an unreliable type with the first confidence coefficient not reaching the first threshold value.

Similarly, the first threshold may be determined based on a demand, a history, a test, and the like, and the embodiment is not limited. For example, for a scenario with a relatively high requirement on positioning accuracy, the first threshold may be a relatively large value; conversely, for a scenario with a relatively low positioning accuracy requirement, the first threshold may be a relatively small value.

The embodiment may be understood that the network positioning result may include contents of two dimensions, where the contents of one dimension are network positioning locations, that is, positioning information obtained based on network positioning on the carrier, and the contents of the other dimension are first confidence levels, that is, values representing accuracy and reliability of the network positioning locations.

In contrast, the greater the first confidence, the higher the accuracy and reliability of the network positioning location; conversely, the smaller the first confidence coefficient, the lower the accuracy and reliability of the network positioning location.

Accordingly, the network location type attribute may be determined based on a magnitude relationship between the first confidence and the first threshold. If the first confidence coefficient reaches (namely is more than or equal to) a first threshold value, the accuracy and the reliability of the network positioning position are relatively high, and the network positioning type attribute is a reliable type; otherwise, if the first confidence does not reach (i.e., is smaller than) the first threshold, it indicates that the accuracy and reliability of the network positioning location are relatively low, and the network positioning type attribute is an unreliable type.

S205: and constructing a network factor residual error between the network positioning position and the position in the state quantity of the carrier in a mode corresponding to the network positioning type attribute.

Illustratively, if the network positioning type attribute is a reliable type, the sampling mode a constructs a network factor residual error between the network positioning position and a position in the state quantity of the carrier; and if the network positioning type attribute is an unreliable type, constructing a network factor residual error between the network positioning position and the position in the state quantity of the carrier by using a sampling mode B, wherein the mode A and the mode B are two different modes.

In other words, for different network positioning type attributes, different ways are sampled to construct the network factor residual error, so as to improve the flexibility and diversity of constructing the network factor residual error.

In some embodiments, the network location type attribute is a reliable type; the network factor residual is constructed according to a first difference value between a network positioning position and a position in the state quantity of the carrier, a preset maximum residual value, a preset network factor covariance, a preset minimum distance and a preset maximum distance.

In some embodiments, if the first difference is smaller than the predetermined minimum distance, the network factor residual is zero.

If the first difference is greater than the preset maximum distance, the network factor residual error is determined based on the preset maximum residual error value and the preset network factor covariance.

And if the first difference value is between the preset minimum distance and the preset maximum distance, determining the network factor residual error based on the product of the preset maximum residual error value and a quotient and the preset network factor covariance, wherein the quotient is a quotient between a second difference value and a third difference value, the second difference value is a difference value between the first difference value and the preset minimum distance, and the third difference value is a difference value between the maximum preset distance and the minimum preset distance.

Illustratively, the network location type attribute is a reliable type, and the network factor residual E at the time k can be constructed based on equation 4 _Net,k And, formula 4:

wherein omega _Net,k For a predetermined network factor covariance, e _Net,k Can be determined by equation 5, equation 5:

wherein, d _k Is a first difference, d _k ＝||P _Net,k -P _k ||，P _Net,k Position location, P, for the network at time k _k Position in the vector state quantity, d _min To a predetermined minimum distance, d _max At a predetermined maximum distance, err _max To preset a maximum residual value, d _k -d _min Is a second difference, d _max -d _min Is the third difference.

Similarly, the preset minimum distance, the preset maximum distance, and the preset maximum residual value may all be determined based on a demand, a history, a test, and the like, and this embodiment is not limited.

The preset minimum distance may be a distance corresponding to 1 × σ precision radius, and the preset maximum distance may be a distance corresponding to 3 × precision radius.

In this embodiment, the network factor residual may be understood as a difference between the network positioning result and the state quantity of the carrier in the position dimension, and the network factor residual is constructed by combining the preset maximum distance and the preset minimum distance and sampling the three different manners, so that the position in the state quantity of the carrier is constrained, and the reliability and the effectiveness of the network positioning result are considered.

In the embodiment, in a scene where the network positioning type is a reliable type, the accuracy of the network positioning result is relatively high, and the network factor residual is determined in a more refined manner, so that the network factor residual has higher accuracy and reliability, and the state information of the carrier obtained by fusion also has the technical effects of higher reliability and effectiveness.

In other embodiments, the network positioning type is an unreliable type, and the network factor residual is constructed by taking a difference value between the network positioning position and the preset precision radius as a minimum value of positions in the state quantity of the carrier and taking a sum value between the network positioning position and the preset precision radius as a maximum value of positions in the state quantity of the carrier.

Illustratively, the network location type is an unreliable type, and the network factor residual can be represented by equation 6, equation 6:

P _Net,k -r _Net,k ≤P _k ＜P _Net,k +r _Net,k

wherein, P _Net,k Locating position, P, for the network _k Is the position in the vector state quantity, r _Net,k Is a preset precision radius.

In this embodiment, in a scenario where the network location type is an unreliable type, the accuracy of the network location result is relatively low, and the network factor residual is constructed in the range constraint manner of formula 6, so that the range of the interval of the state information of the carrier can be relatively constrained, thereby avoiding excessive intervention on the state information of the carrier, and simultaneously playing a certain constraint role.

S206: and acquiring an inertial positioning result obtained by positioning the carrier based on the positioning technology of inertial positioning.

The inertial positioning result comprises inertial positioning information of the carrier and a second confidence coefficient of the inertial positioning information.

Similarly, the embodiment does not limit the manner of obtaining the inertial positioning result, and for example, the acceleration and the rotation angle of the carrier may be obtained through an accelerometer and a gyroscope arranged on the carrier, and the position variation and the speed variation of the carrier at adjacent times are obtained through a strapdown calculation method. The inertial positioning information includes a position variation and a speed variation.

S207: an inertial positioning type attribute of the inertial positioning information is determined.

And the inertial positioning type attribute is an available type with the second confidence coefficient reaching a second threshold value or an unavailable type with the second confidence coefficient not reaching the second threshold value.

Similarly, the second threshold may be determined based on a demand, a history, a test, and the like, and the embodiment is not limited. For example, for a scenario with a relatively high requirement on positioning accuracy, the second threshold may be a relatively large value; conversely, for a scenario with a relatively low positioning accuracy requirement, the second threshold may be a relatively small value.

The embodiment may be understood that the inertial positioning result may include two dimensions of content, where the content of one dimension is inertial positioning information, that is, positioning information obtained by positioning the carrier based on sensors (alternatively referred to as inertial devices) such as an accelerometer and a gyroscope, and the content of the other dimension is a second confidence level, that is, a value representing accuracy and reliability of the inertial positioning information.

In contrast, the larger the second confidence coefficient is, the higher the accuracy and reliability of the inertial positioning information are; conversely, the smaller the second confidence coefficient, the lower the accuracy and reliability of the inertial positioning information.

Accordingly, the inertial positioning type attribute may be determined based on a magnitude relationship between the second confidence and the second threshold. If the second confidence coefficient reaches (i.e. is greater than or equal to) a second threshold value, the accuracy and reliability of the inertial positioning information are relatively high, and the attribute of the inertial positioning type is an available type; otherwise, if the second confidence does not reach (i.e., is less than) the second threshold, it indicates that the accuracy and reliability of the inertial positioning information are relatively low, and the inertial positioning type attribute is an unavailable type.

S208: and constructing an inertia factor residual error between the inertia positioning result and the position and the speed in the state quantity of the carrier in a mode corresponding to the inertia positioning type attribute.

For example, if the attribute of the inertial positioning type is an available type, the sampling mode a constructs an inertial factor residual error between the inertial positioning information and a position and a speed in the state quantity of the carrier; and if the inertial positioning type attribute is an unavailable type, constructing an inertial factor residual error between the inertial positioning information and the position and the speed in the state quantity of the carrier by using a sampling mode B, wherein the mode A and the mode B are two different modes.

That is to say, aiming at different inertial positioning type attributes, the inertial factor residual error is constructed in different modes so as to improve the flexibility and diversity of constructing the inertial factor residual error.

In some embodiments, the inertial positioning type attribute is an available type; the inertial positioning information comprises the current time, and the position variation and the speed variation between the next time adjacent to the current time; the inertia factor residual is constructed from the amount of change in position, the amount of change in velocity, the position and velocity at the current time in the state quantities of the carrier, the position and velocity at the next time adjacent to the current time in the state quantities of the carrier, and a preset inertia factor covariance.

The inertia factor residual can be understood as the difference between the state quantity representing the inertial positioning result and the carrier in the speed variation dimension and the position variation dimension.

Exemplary, inertia factor residual E at time k _INS,k Can be represented by formula 7, formula 7:

wherein omega _INS,k The inertia factor covariance is preset.

If the inertial positioning type attribute is available type, e _INS,k Can be represented by formula 8, formula 8:

wherein, Δ P _INS,k Is a position variation, Δ V _INS,k For the amount of speed change, P _k+1 Is the position in the state quantity of the carrier at time (k + 1), V _k+1 Is the speed, P, in the state quantity of the carrier at time (k + 1) _k Is the position in the state quantity of the carrier at time k, V _k Is the velocity in the state quantity of the carrier at time k.

In a scene that the inertial positioning type is an available type, the inertial positioning result has higher reliability and effectiveness compared with the inertial positioning result, and the inertial factor residual error is constructed by combining the position variation and the speed variation in the inertial positioning result, so that the inertial factor residual error has higher accuracy and reliability, and the state quantity of the carrier obtained by fusing the inertial factor residual error is improved to have higher accuracy and reliability.

And if the inertial positioning type is an unavailable type, constructing an inertial factor residual error according to the time difference, the position and the speed of the current moment in the state quantity of the carrier, the position and the speed of the next moment adjacent to the current moment in the state quantity of the carrier and a preset inertial factor covariance. Wherein the time difference is a time difference between the current time and a next time adjacent to the current time.

Illustratively, if the inertial positioning type is the unavailable type, then e _INS,k Can be represented by formula 9, formula 9:

wherein, P _k+1 Is the position in the state quantity of the carrier at time (k + 1), V _k+1 Is the speed, P, in the state quantity of the carrier at time (k + 1) _k Is the position in the state quantity of the carrier at time k, V _k T is the time difference between the time (k + 1) (i.e. the next time instant adjacent to the current time instant) and the time (k) instant (i.e. the current time instant), which is the velocity in the state quantity of the carrier at the time (k).

In a scenario where the inertial positioning type is an unavailable type, the inertial positioning result is relatively low in reliability, and the state quantities of the carriers at adjacent moments can be constrained by adopting a constant velocity model as described in the above equation 9 to construct an inertial factor residual, so that more information is fused to determine the state quantities of the carriers, and errors in the state quantities of the carriers caused by fusion are also avoided.

S209: and constructing a factor overall residual of the sum of the satellite factor residual, the network factor residual and the inertia factor residual.

Combined with the above analysis, factor overall residual = E _sat,k +E _Net,k +E _INS,k 。

S210: and (4) minimizing the integral residual error of the factor by adopting a factor graph algorithm to obtain the state quantity of the carrier when the integral residual error of the factor is minimized.

Solving the minimum value of the integral residual error of the factor based on a factor graph algorithm to obtain the state quantity X of the carrier meeting the minimum value of the integral residual error of the factor _k The state quantity of the carrier can be represented by formula 10, formula 10:

X _k ＝[P _k ,V _k ,t _k ,f _k ]

wherein, P _k Is the position of time k, V _k Velocity at time k, t _k Clock error at time k, f _k Is the clock drift at time k.

Based on the above analysis, in some embodiments, the fusion positioning method of the embodiment may be used in a fusion scene under a single epoch, so as to fuse a satellite factor residual, a network factor residual, and an inertia factor residual under the single epoch scene, so as to obtain a state quantity of a carrier under the single epoch scene.

In other embodiments, the fusion positioning method of this embodiment may be applied to a fusion scenario under multiple epochs to fuse a satellite factor residual, a network factor residual, and an inertia factor residual under each epoch scenario, so as to synchronously calculate the state quantity of the carrier under each epoch scenario.

For example, if the number of epochs is M, the factor overall residual of the M epochs can be represented by equation 11, equation 11:

wherein E is _sat,k Residual of satellite factor for time k, E _Net,k Is the network factor residual at time k, E _INS,k Is the inertia factor residual at time k.

Correspondingly, the factor overall residual of M epochs is minimized by adopting a factor graph algorithm to obtain the state quantity of the vector when the factor overall residual is minimized, which can be represented by formula 12, formula 12:

wherein, X is a set of state quantities of the carrier of M epochs, and S is a set of dynamic weighting factors corresponding to the state quantities of the carrier obtained when the minimum equation 12 is satisfied under each epoch.

For example, the fusion positioning method of the present embodiment may be applied to a scene with multiple epochs, such as the scene with at least two epochs shown in fig. 3, where the two epochs are the time k and the time (k + 1) shown in fig. 3, respectively.

Wherein the state quantity of the carrier at the time k is X _k ，X _k And determining based on the satellite factor residual, the network factor residual and the inertia factor residual. Wherein the satellite factor residual is determined based on the pseudorange residual and the pseudorange rate residual of each satellite at time k, the pseudorange residual is determined based on the pseudorange, and the pseudorange rate residual is determined based on the pseudorange rate, as shown in fig. 3 for satellite i

And pseudorange rate residuals

And satellite j pseudorange residuals as shown in FIG. 3

And pseudorange rate residuals

The network factor residual is determined based on the network location, such as the network location P at time k as shown in FIG. 3 _Net,k And (4) determining.

The inertia factor residual is determined based on the amount of change in velocity and the amount of change in position, such as the amount of change in position Δ P shown in FIG. 3 _INS,k And a speed variation amount Δ V _INs,k And (4) determining.

Similarly, as shown in FIG. 3, the state quantity of the carrier at the time (k + 1) is X _k+1 ，X _k+1 A determination is made based on the satellite factor residual, the network factor residual, and the inertia factor residual.

Wherein the satellite factor residuals are determined based on the pseudorange residuals of the satellites at the (k + 1) time and the pseudorange rate residuals, the pseudorange residuals are determined based on the pseudoranges, and the pseudorange rate residuals are determined based on the pseudorange rates, as shown in FIG. 3Satellite i pseudo range

And pseudorange rate residuals

And satellite j pseudorange residuals as shown in FIG. 3

And pseudorange rate residuals

The network factor residual is determined based on the network location position, such as the network location position P at time (k + 1) as shown in FIG. 3 _Net,k+1 And (4) determining. The inertia factor residual is determined based on the amount of change in velocity and the amount of change in position, such as the amount of change in position Δ P shown in FIG. 3 _INS,k+1 And a speed variation amount Δ V _INS,k+1 And (4) determining.

It should be noted that fig. 3 only exemplarily shows the implementation principle of the fusion positioning method of the present embodiment by using two epochs, which cannot be understood as a limitation to the number of epochs, and for a detailed implementation principle, reference may be made to the above-mentioned embodiment, which is not described herein again.

It is worth noting that in solving equation 12, reasonable range constraints can be applied to the velocity variables according to the positioning environment of the carrier.

For example, the positioning environment may be a motion scene where the carrier is located, such as stationary, walking, riding, driving, and the like, and the speed change interval of the carrier in different motion scenes is configured in combination with the speed of the carrier in different motion scenes, and for each motion scene, the speed of the carrier in the motion scene is constrained according to the speed change interval of the motion scene.

For example, if the motion scene is walking, historical data of the carrier in the walking scene may be obtained, the historical data includes speed, a speed change interval is determined based on the speed, for example, a minimum speed and a maximum speed of walking are extracted from the speed of the historical data, and the speed change interval is constructed based on the minimum speed and the maximum speed.

Accordingly, if the speed variation in equation 12 is in the speed variation interval, it is indicated that the speed variation in equation 12 corresponds to the walking scene, and is relatively accurate, no adjustment is required, and equation 12 can be solved to obtain the state quantity of the carrier in the walking scene. On the other hand, if the speed variation in equation 12 is not located in the speed variation interval, which indicates that the speed variation in equation 12 does not conform to the walking scene and the speed variation may be calculated incorrectly, the speed variation may be adjusted based on the speed variation interval, and the state quantity of the carrier in the walking scene may be obtained by solving equation 12 after the adjustment.

It is worth explaining that reasonable range constraint is carried out on the speed variable by combining the motion scene, so that unreasonable state quantities of the carrier can be avoided from being obtained through solving, and the reliability and effectiveness of fusion positioning are improved.

By combining the above analysis, satellite positioning, inertial positioning, and network positioning can be fused to obtain the state information of the carrier. As shown in fig. 4, satellite observation values such as pseudo-range and pseudo-range rate may be obtained based on satellite positioning; inertial positioning results such as position variation, speed variation and the like can be obtained based on inertial positioning; network observation based on network positioning can acquire network observation information such as a base station, a WiFi list, signal strength and the like, so as to acquire a network positioning result, such as a network positioning position, from a fingerprint library based on the network observation information.

As shown in fig. 4, the satellite observation value, the inertial positioning result, and the network positioning result are input to the factor graph filter, and state information of the carrier, such as the position and the velocity of the carrier, is output.

The factor graph filter can construct a satellite factor residual error, an inertia factor residual error and a network factor residual error, and is configured with a factor graph algorithm, and iterative solution is carried out on the satellite factor residual error, the inertia factor residual error and the network factor residual error based on the factor graph algorithm, so that state information of the carrier is obtained. For specific implementation principles, reference may be made to the above embodiments, which are not described herein again.

It should be noted that the above embodiments illustrate three positioning manners, i.e., integrating satellite positioning, network positioning, and inertial positioning. In other embodiments, any two of the three positioning methods may be fused, such as fusing satellite positioning and network positioning, or fusing satellite positioning and inertial positioning, or fusing network positioning and inertial positioning. In some further embodiments, the positioning may be performed by any one of the three positioning manners, such as determining the state quantity of the carrier by satellite positioning, determining the state quantity of the carrier by network positioning, or determining the state quantity of the carrier by inertial positioning.

And in still other embodiments, the state quantity of the carrier can be determined by selecting one or more positioning modes from three positioning modes in combination with the positioning environment.

For example, if the positioning environment is an indoor scene, for example, a carrier in the indoor scene is positioned, network positioning and inertial positioning may be fused to obtain a state quantity of the carrier.

If the positioning environment is an outdoor scene, for example, a carrier in the outdoor scene is positioned, satellite positioning and network positioning can be fused to obtain the state quantity of the carrier. Alternatively, satellite positioning and inertial positioning may be fused to obtain the state quantities of the carrier. Alternatively, satellite positioning, network positioning, and inertial positioning may be fused to obtain the state quantities of the carrier.

In some embodiments, the network signal strength in the positioning environment may be determined first, and if the network signal in the positioning environment is weak, network positioning may not be fused, and if the network signal in the positioning environment is strong, network positioning is fused.

That is, when fusion positioning is performed, a certain positioning method can be quickly added or removed, so that a hot-plug fusion mode is realized, and the diversity, flexibility and effectiveness of fusion positioning are improved.

The implementation principle of fusing three positioning manners in the above embodiment is only used for exemplary illustration, and a possible fusing positioning manner is not understood as a limitation on the type of the fusing positioning manner, and specifically, the fusing positioning manner may be determined based on a positioning environment, and the fusing positioning manner may also be determined based on a positioning requirement.

Referring to fig. 5, fig. 5 is a schematic view of a fusion positioning device according to an embodiment of the disclosure.

As shown in fig. 5, the apparatus 500 includes:

the acquiring unit 501 is configured to acquire a satellite factor residual, a network factor residual, and an inertia factor residual, which are obtained by positioning a carrier using different positioning technologies, where the satellite factor residual is adaptively adjusted based on a satellite observation value obtained by observing a satellite by the carrier.

A solving unit 502, configured to perform fusion processing on the satellite factor residual, the network factor residual, and the inertia factor residual by using a factor graph algorithm to obtain a fusion result, and perform iterative solution on the fusion result to obtain the state quantity of the carrier.

Referring to fig. 6, fig. 6 is a schematic view of a fusion positioning device according to another embodiment of the disclosure.

As shown in fig. 6, the apparatus 600 includes:

the obtaining unit 601 is configured to obtain a satellite factor residual, a network factor residual, and an inertia factor residual, which are obtained by positioning a carrier using different positioning technologies, where the satellite factor residual is adaptively adjusted based on a satellite observation value obtained by observing a satellite by the carrier.

In some embodiments, as can be seen in fig. 6, the obtaining unit 601 includes:

a first obtaining subunit 6011, configured to obtain satellite observation values corresponding to each satellite obtained by observing each satellite based on a carrier.

A first constructing subunit 6012, configured to construct, according to a satellite observation value, a preset satellite factor covariance, and a dynamic weight factor respectively corresponding to each satellite, a satellite factor residual between each satellite observation value and the state quantity of the carrier, where the dynamic weight factor of each satellite is adaptively adjusted based on the satellite observation value of the satellite.

In some embodiments, first building subunit 6012, comprises:

and the first construction submodule is used for constructing a pseudo-range residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of each satellite, and constructing a pseudo-range rate residual error between the satellite observation value and the state quantity of the carrier according to the satellite observation value of each satellite.

In some embodiments, for each satellite, the satellite observations for that satellite include: a pseudorange of the satellite, a pseudorange rate of the satellite, a position of the satellite, a clock bias of the satellite, a velocity of the satellite, a clock drift of the satellite, and a coordinate difference between the satellite and the carrier;

In some embodiments, as can be seen in fig. 6, the obtaining unit 601 includes:

a second obtaining subunit 6013, configured to obtain a network positioning result obtained by positioning the carrier based on a positioning technology of network positioning, where the other positioning results include the network positioning result, and the network positioning result includes a network positioning position of the carrier and a first confidence of the network positioning position.

A first determining subunit 6014, configured to determine a network positioning type attribute of the network positioning location, where the network positioning type attribute is a reliable type that the first confidence degree reaches a first threshold, or is an unreliable type that the first confidence degree does not reach the first threshold.

A second constructing subunit 6015, configured to construct, in a manner corresponding to the network positioning type attribute, a network factor residual between the network positioning location and a location in the state quantity of the carrier.

In some embodiments, the network location type attribute is the reliable type; the network factor residual is constructed according to a first difference value between the network positioning position and a position in the state quantity of the carrier, a preset maximum residual value, a preset network factor covariance, a preset minimum distance and a preset maximum distance.

In some embodiments, if the first difference is smaller than the preset minimum distance, the network factor residual is zero;

if the first difference is greater than the preset maximum distance, determining the network factor residual error based on the preset maximum residual error value and the preset network factor covariance;

In some embodiments, the network location type attribute is the unreliable type; the network factor residual is constructed by taking a difference value between the network positioning position and a preset precision radius as a minimum value of positions in the state quantity of the carrier and taking a sum value between the network positioning position and the preset precision radius as a maximum value of the positions in the state quantity of the carrier.

In some embodiments, as can be seen in fig. 6, the obtaining unit 601 includes:

a third obtaining subunit 6016, configured to obtain an inertial positioning result obtained by positioning the carrier based on a positioning technology of inertial positioning, where the other positioning results include the inertial positioning result, and the inertial positioning result includes inertial positioning information of the carrier and a second confidence degree of the inertial positioning information.

A second determining subunit 6017, configured to determine an inertial positioning type attribute of the inertial positioning information, where the inertial positioning type attribute is an available type where the second confidence reaches a second threshold, or an unavailable type where the second confidence does not reach the second threshold.

A third constructing subunit 6018, configured to construct an inertia factor residual between the inertial positioning result and the position and the speed in the state quantity of the carrier in a manner corresponding to the inertial positioning type attribute.

In some embodiments, the inertial positioning type attribute is the available type; the inertial positioning information comprises a current time, and a position variation and a speed variation between next times adjacent to the current time; the inertia factor residual is constructed according to the position variation, the speed variation, the position and the speed of the current time in the state quantity of the carrier, the position and the speed of the next time adjacent to the current time in the state quantity of the carrier, and a preset inertia factor covariance.

In some embodiments, the inertial positioning type attribute is the unavailable type; the inertia factor residual is constructed according to a time difference value, a position and a speed of a current time in the state quantity of the carrier, a position and a speed of a next time adjacent to the current time in the state quantity of the carrier, and a preset inertia factor covariance, wherein the time difference value is a time difference value between the current time and the next time adjacent to the current time.

And the solving unit 602 is configured to perform fusion processing on the satellite factor residual, the network factor residual, and the inertia factor residual by using a factor graph algorithm to obtain a fusion result, and perform iterative solution on the fusion result to obtain the state quantity of the carrier.

In some embodiments, as can be seen in fig. 6, the solving unit 602 includes:

a fourth construction subunit 6021, configured to construct a factor overall residual that is a sum of the satellite factor residual, the network factor residual, and the inertia factor residual.

A processing subunit 6022, configured to perform minimization on the factor overall residual by using the factor graph algorithm to obtain a state quantity of the carrier when the factor overall residual is minimized.

Fig. 7 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, an electronic device 700 of an embodiment of the present disclosure may include: at least one processor 701 (only one processor is shown in FIG. 7); and a memory 702 communicatively coupled to the at least one processor. The memory 702 stores instructions executable by the at least one processor 701, and the instructions are executed by the at least one processor 701, so that the electronic device 700 can execute the technical solution in any of the foregoing method embodiments.

Alternatively, the memory 702 may be separate or integrated with the processor 701.

When the memory 702 is a separate device from the processor 701, the electronic device 700 further includes: a bus 703 for connecting the memory 702 and the processor 701.

The electronic device provided in the embodiment of the present disclosure may execute the technical solutions of any of the foregoing method embodiments, and the implementation principles and technical effects are similar, which are not described herein again.

The embodiment of the present disclosure further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the computer program is used to implement the technical solution in any of the foregoing method embodiments.

The embodiment of the present disclosure provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the technical solution in any of the foregoing method embodiments.

The embodiment of the present disclosure further provides a chip, including: a processing module and a communication interface, wherein the processing module can execute the technical scheme in the method embodiment.

Further, the chip further includes a storage module (e.g., a memory), where the storage module is configured to store instructions, and the processing module is configured to execute the instructions stored in the storage module, and the execution of the instructions stored in the storage module causes the processing module to execute the technical solution in the foregoing method embodiment.

It should be understood that the Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present invention may be embodied directly in a hardware processor, or in a combination of the hardware and software modules within the processor.

The memory may comprise a high-speed RAM memory, and may further comprise a non-volatile storage NVM, such as at least one disk memory, and may also be a usb disk, a removable hard disk, a read-only memory, a magnetic or optical disk, etc.

The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, the buses in the figures of the present disclosure are not limited to only one bus or one type of bus.

The storage medium may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks. A storage media may be any available media that can be accessed by a general purpose or special purpose computer.

An exemplary storage medium is coupled to the processor such the processor can read information from, and write information to, the storage medium. Of course, the storage medium may also be integral to the processor. The processor and the storage medium may reside in an Application Specific Integrated Circuits (ASIC). Of course, the processor and the storage medium may reside as discrete components in an electronic device.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present disclosure.

Claims

1. A fusion localization method, comprising:

acquiring satellite factor residual errors, network factor residual errors and inertia factor residual errors which are obtained by positioning carriers by adopting different positioning technologies, wherein the satellite factor residual errors are adaptively adjusted based on satellite observation values obtained by observing satellites by the carriers;

and performing fusion processing on the satellite factor residual, the network factor residual and the inertia factor residual by adopting a factor graph algorithm to obtain a fusion result, and performing iterative solution on the fusion result to obtain the state quantity of the carrier.

2. The method of claim 1, wherein obtaining the satellite factor residuals comprises:

acquiring satellite observation values corresponding to the satellites obtained by observing the satellites on the basis of the carrier;

3. The method of claim 2, wherein constructing a satellite factor residual between each satellite observation and the state quantity of the carrier according to the satellite observation, the preset satellite factor covariance, and the dynamic weight factor corresponding to each satellite comprises:

4. The method of claim 3, wherein for each satellite, the satellite observations for that satellite comprise: a pseudorange of the satellite, a pseudorange rate of the satellite, a position of the satellite, a clock bias of the satellite, a velocity of the satellite, a clock drift of the satellite, and a coordinate difference between the satellite and the carrier;

5. The method according to any of claims 1-4, wherein obtaining the network factor residual comprises:

obtaining a network positioning result obtained by positioning the carrier based on a positioning technology of network positioning, wherein the network positioning result comprises a network positioning position of the carrier and a first confidence coefficient of the network positioning position;

6. The method according to claim 5, wherein said network positioning type attribute is said reliable type; the network factor residual is constructed according to a first difference value between the network positioning position and a position in the state quantity of the carrier, a preset maximum residual value, a preset network factor covariance, a preset minimum distance and a preset maximum distance.

7. The method of claim 6, wherein if the first difference is less than the predetermined minimum distance, the network factor residual is zero;

8. The method according to claim 5, wherein said network positioning type attribute is said unreliable type; and the network factor residual error is constructed by taking a difference value between the network positioning position and a preset precision radius as a minimum value of the position in the state quantity of the carrier and taking a sum value between the network positioning position and the preset precision radius as a maximum value of the position in the state quantity of the carrier.

9. The method of any of claims 1-8, wherein obtaining the inertia factor residual comprises:

10. The method of claim 9, wherein the inertial positioning type attribute is the available type; the inertial positioning information comprises a current time, and a position variation and a speed variation between next times adjacent to the current time; the inertia factor residual is constructed according to the position variation, the speed variation, the position and the speed of the current time in the state quantity of the carrier, the position and the speed of the next time adjacent to the current time in the state quantity of the carrier, and a preset inertia factor covariance.

11. The method of claim 9, wherein the inertial positioning type attribute is the unavailable type; the inertia factor residual is constructed according to a time difference value, a position and a speed of a current time in the state quantity of the carrier, a position and a speed of a next time adjacent to the current time in the state quantity of the carrier, and a preset inertia factor covariance, wherein the time difference value is a time difference value between the current time and the next time adjacent to the current time.

12. The method according to any one of claims 1 to 11, wherein the performing fusion processing on the satellite factor residual, the network factor residual, and the inertia factor residual by using the factor graph algorithm to obtain a fusion result, and performing iterative solution on the fusion result to obtain the state quantity of the carrier includes:

13. A fusion positioning apparatus, comprising:

14. An electronic device, comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,

the memory stores instructions executable by the at least one processor to enable the electronic device to perform the method of any of claims 1-11.

15. A computer program product comprising a computer program which, when executed by a processor, implements the method of any one of claims 1-12.