CN115840242B

CN115840242B - Positioning result resolving method, device, electronic equipment and storage medium

Info

Publication number: CN115840242B
Application number: CN202310152901.1A
Authority: CN
Inventors: 栾忠正; 陈亮; 韩雷晋; 侯晓伟
Original assignee: Guangzhou Asensing Technology Co Ltd
Current assignee: Guangzhou Asensing Technology Co Ltd
Priority date: 2023-02-22
Filing date: 2023-02-22
Publication date: 2023-05-02
Anticipated expiration: 2043-02-22
Also published as: CN115840242A

Abstract

The invention provides a positioning result resolving method, a positioning result resolving device, electronic equipment and a storage medium, and relates to vehicle-mounted positioning technology. According to the method, through the description information of each satellite recorded with data representing satellite performance in a satellite system, a plurality of available satellites are screened out from the satellite system, kalman filtering is conducted on satellite observation values of all the available satellites to obtain a positioning result floating solution and a plurality of first floating ambiguity parameters, and finally fixing processing is conducted on the plurality of first floating ambiguity parameters to improve the accuracy of the positioning result floating solution and obtain a positioning result fixing solution representing a vehicle driving position, so that a consumer-level low-cost GNSS module can be adapted, the influence of low-quality satellite observation values on a PPP-RTK positioning result resolving process is reduced, and the resolving efficiency of the positioning result is improved.

Description

Positioning result resolving method, device, electronic equipment and storage medium

Technical Field

The invention relates to the technical field of vehicle-mounted positioning, in particular to a positioning result resolving method, a positioning result resolving device, electronic equipment and a storage medium.

Background

The implementation of the automatic driving technology depends on the continuous development of two types of technologies, namely a sensing technology and a decision technology, wherein one of the cores of the sensing technology is an on-vehicle positioning technology. The vehicle-mounted positioning technology is used for providing real-time positioning information for vehicles by means of all-weather and all-directional characteristics of a global satellite positioning system (GlobalNavigation Satellite System, GNSS) and the like.

Currently, the dominant vehicle positioning technology includes the atmospheric enhanced precision point-to-point positioning technology (PrecisePoint Psitioning-Real-Time Kinematic, PPP-RTK). The PPP-RTK positioning result resolving process is influenced by the quality of satellite observations, and when the satellite observations are unstable, the resolving speed of the positioning result is slower. The quality of satellite observations depends on the performance of the GNSS module, and the quality of satellite observations of some consumer-grade low-cost GNSS modules tends to be low. Therefore, how to adapt to a consumer-level low-cost GNSS module and reduce the influence of low-quality satellite observations on the PPP-RTK positioning result calculation process is a problem to be solved by those skilled in the art.

Disclosure of Invention

The embodiment of the invention provides a positioning result resolving method, a device, electronic equipment and a storage medium, which can reduce the influence of a low-quality satellite observation value on a PPP-RTK positioning result resolving process.

The technical scheme of the embodiment of the invention can be realized as follows:

in a first aspect, an embodiment of the present invention provides a positioning result resolving method, where the method includes:

screening a plurality of available satellites from a satellite system according to the description information of each satellite in the satellite system, wherein the description information records data representing the satellite performance;

carrying out Kalman filtering on satellite observation values of all the available satellites to obtain a positioning result floating solution and a plurality of first floating ambiguity parameters;

and fixing the plurality of first floating ambiguity parameters to improve the accuracy of the floating solution of the positioning result and obtain a positioning result fixing solution representing the running position of the vehicle.

Optionally, the step of screening a plurality of available satellites from the satellite system according to the description information of each satellite in the satellite system includes:

screening all first candidate satellites from the satellite system according to satellite attributes, satellite height angles and satellite signal-to-noise ratios recorded in the description information of each satellite, wherein the satellite attributes of the first candidate satellites are not geosynchronous orbit satellites, the satellite height angles of the first candidate satellites meet a preset cut-off height angle, and the satellite signal-to-noise ratios of the first candidate satellites meet a preset cut-off signal-to-noise ratio;

Taking each first candidate satellite with satellite observation values free of incomplete as a second candidate satellite;

and if the number of the second candidate satellites is not greater than a first preset threshold value, each second candidate satellite is used as the available satellite.

Optionally, the method further comprises:

if the number of the second candidate satellites is larger than a first preset threshold, each second candidate satellite recorded with ionospheric delay parameters in the description information is used as a third candidate satellite;

and if the number of the third candidate satellites is not greater than a first preset threshold value, each third candidate satellite is used as the available satellite.

Optionally, the method further comprises:

if the number of the third candidate satellites is larger than a first preset threshold value, each third candidate satellite with the quality factor for the ionospheric delay parameter recorded in the description information is used as a fourth candidate satellite;

and if the number of the fourth candidate satellites is not greater than a first preset threshold value, each fourth candidate satellite is used as the available satellite.

Optionally, the method further comprises:

if the number of the fourth candidate satellites is greater than a first preset threshold, each fourth candidate satellite with the satellite attribute not being the inclined geosynchronous orbit satellite in the description information is used as a fifth candidate satellite;

And if the number of the fifth candidate satellites is not greater than a first preset threshold value, each fifth candidate satellite is used as the available satellite.

Optionally, the method further comprises:

and if the number of the fifth candidate satellites is larger than a first preset threshold, determining a first preset threshold number of available satellites from all the fifth candidate satellites according to satellite numbers in the description information.

Optionally, the step of performing fixed processing on the plurality of first floating ambiguity parameters includes:

performing wide lane fixing processing on the plurality of first floating ambiguity parameters to obtain a second floating ambiguity parameter set;

performing multi-frequency fixed processing on the second floating point ambiguity parameter set to obtain an integer ambiguity parameter set;

and constraining Kalman filtering performed again on satellite observation values of all the available satellites by using the integer ambiguity parameter set to obtain the fixed solution of the positioning result.

Optionally, the step of performing a wide lane fixing process on the plurality of first floating ambiguity parameters to obtain a second ambiguity parameter set includes:

for any available satellite, performing wide lane combination on a first floating ambiguity parameter corresponding to the available satellite to obtain an ambiguity combination value corresponding to the available satellite;

Constructing a single difference equation by using the ambiguity combination value corresponding to the available satellite and the ambiguity combination value of the pre-selected reference satellite to obtain a single difference ambiguity parameter corresponding to the available satellite;

traversing each available satellite to obtain a single-difference ambiguity parameter corresponding to each available satellite;

screening the corresponding single-difference ambiguity parameters of all the available satellites according to the description information of each available satellite to obtain a single-difference ambiguity parameter set;

sequentially performing LAMBDA search, ratio test and fixed success rate test on the single-difference ambiguity parameter set to obtain the wide-lane ambiguity parameter set;

and constraining Kalman filtering performed again on satellite observation values of all the available satellites by using the wide-lane ambiguity parameter set to obtain the second floating ambiguity parameter set.

Optionally, the description information includes UPD product description, continuous observation epoch number and rounding success rate check record, and the step of screening, according to the description information of each available satellite, single-difference ambiguity parameters corresponding to all the available satellites to obtain a single-difference ambiguity parameter set includes:

determining all first satellites to be determined from all the available satellites according to UPD product descriptions, continuous observation epoch numbers and rounding success rate verification records of each available satellite, wherein the UPD product descriptions of the first satellites to be determined are not empty, the continuous observation epoch numbers of the first satellites to be determined are not less than a preset minimum epoch number, and the rounding success rate verification records of the first satellites to be determined pass;

And if the number of the first satellites to be determined is not greater than a second preset threshold, adding the single-difference ambiguity parameter corresponding to each first satellite to be determined into the single-difference ambiguity parameter set.

Optionally, the method further comprises:

if the number of the first satellites to be determined is greater than a second preset threshold, acquiring post-verification phase residual errors of each first satellite to be determined;

determining all second to-be-determined satellites from all the first to-be-determined satellites according to the post-test phase residual error of each first to-be-determined satellite, wherein the post-test phase residual error of the second to-be-determined satellites meets preset screening conditions;

and if the number of the second undetermined satellites is not greater than a second preset threshold, adding the single-difference ambiguity parameter corresponding to each second undetermined satellite into the single-difference ambiguity parameter set.

Optionally, the post-verification phase residual includes a plurality of residual values for different observation frequencies, and the step of determining all second pending satellites from all the first pending satellites according to the post-verification phase residual of each first pending satellite includes:

for any first to-be-determined satellite, if the residual value of each observation frequency of the first to-be-determined satellite is not greater than a preset residual threshold, taking the first to-be-determined satellite as a second to-be-determined satellite;

And traversing each first pending satellite to obtain all second pending satellites.

Optionally, the method further comprises:

if the number of the second to-be-determined satellites is larger than a second preset threshold, determining second target satellites with the second preset threshold from all the second to-be-determined satellites according to satellite numbers in the description information of each second to-be-determined satellite;

and adding the single-difference ambiguity parameters corresponding to each target satellite into the single-difference ambiguity parameter set.

Optionally, the second floating ambiguity parameter set includes a subset corresponding to a first observation frequency and a subset corresponding to a second observation frequency, and the step of performing multi-frequency fixing processing on the second floating ambiguity parameter set to obtain an integer ambiguity parameter set includes:

sequentially performing LAMBDA search on the subset corresponding to the first observation frequency, and performing ratio test and fixed success rate test to obtain a subset fixed result corresponding to the first observation frequency;

sequentially performing LAMBDA search on the subset corresponding to the second observation frequency, and performing ratio test and fixed success rate test to obtain a subset fixed result corresponding to the second observation frequency;

and obtaining the integer ambiguity parameter set according to the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency.

Optionally, the step of obtaining the integer ambiguity parameter set according to the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency includes:

if the subset fixing result corresponding to the first observation frequency meets a preset condition and the subset fixing result corresponding to the second observation frequency does not meet the preset condition, taking the subset fixing result corresponding to the first observation frequency as the integer ambiguity parameter set;

and if the subset fixing result corresponding to the first observation frequency does not meet a preset condition and the subset fixing result corresponding to the second observation frequency meets the preset condition, taking the subset fixing result corresponding to the second observation frequency as the integer ambiguity parameter set.

Optionally, the step of obtaining the integer ambiguity parameter set according to the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency further includes:

if the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency both meet preset conditions, performing Kalman filtering on satellite observation values of all the available satellites again by using the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency to obtain a filtering result corresponding to the first observation frequency and a filtering result corresponding to the second observation frequency;

Calculating deviation between a filtering result corresponding to the first observation frequency and a filtering result corresponding to the second observation frequency;

and if the deviation is not greater than a preset deviation threshold value, taking a subset fixing result corresponding to the first observation frequency as the integer ambiguity parameter set.

In a second aspect, an embodiment of the present invention provides a positioning result solving apparatus, including:

the screening module is used for screening a plurality of available satellites from the satellite system according to the description information of each satellite in the satellite system, wherein the description information records data representing the satellite performance;

the processing module is used for carrying out Kalman filtering on satellite observation values of all the available satellites to obtain a positioning result floating solution and a plurality of first floating ambiguity parameters;

and the fixing module is used for carrying out fixing processing on the plurality of first floating ambiguity parameters so as to improve the accuracy of the floating solution of the positioning result and obtain a positioning result fixing solution representing the running position of the vehicle.

In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the computer program implements the positioning result resolving method according to the foregoing first aspect when executed by the processor.

In a fourth aspect, the present invention provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the positioning result solving method as described in the foregoing first aspect.

Compared with the prior art, the positioning result resolving method provided by the embodiment of the invention screens a plurality of available satellites from a satellite system through the description information of the data representing the satellite performance recorded by each satellite in the satellite system, carries out Kalman filtering on satellite observation values of all the available satellites to obtain a positioning result floating point solution and a plurality of first floating point ambiguity parameters, and finally carries out fixing processing on the plurality of first floating point ambiguity parameters to improve the precision of the positioning result floating point solution and obtain a positioning result fixing solution representing the vehicle driving position, thereby being capable of adapting to a low-cost GNSS module of a consumption level, reducing the influence of low-quality satellite observation values on a PPP-RTK positioning result resolving process and improving the resolving efficiency of the positioning result.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flow chart of a positioning result resolving method according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating an exemplary screening process for available satellites according to an embodiment of the present invention;

FIG. 3 is an exemplary diagram of a single-difference ambiguity parameter screening process according to an embodiment of the present invention;

FIG. 4 is a functional block diagram of a positioning result solver according to an embodiment of the present invention;

fig. 5 is a schematic block diagram of an electronic device according to an embodiment of the present invention.

Icon: 100-positioning result solver; 101-a screening module; 102-a processing module; 103-fixing the module; 200-an electronic device; 210-memory; 220-processor.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

Furthermore, the terms "first," "second," and the like, if any, are used merely for distinguishing between descriptions and not for indicating or implying a relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

In order to adapt to a consumer-level low-cost GNSS module, reduce the influence of low-quality satellite observations on a PPP-RTK positioning result resolving process and improve the positioning result resolving efficiency, the embodiment of the invention provides a positioning result resolving method, and the method is described in detail below.

Referring to fig. 1, the positioning result solving method includes steps S101 to S103.

S101, screening a plurality of available satellites from the satellite system according to the description information of each satellite in the satellite system.

Wherein the descriptive information is recorded with data characterizing satellite performance, such as satellite attributes, satellite altitude, etc.

It will be appreciated that the available satellites are better performing satellites screened from the satellite system, and their satellite observations will be used to make a solution to the PPP-RTK positioning result.

As a possible implementation manner, the implementation procedure of step S101 may be as follows:

s101-1, screening all first candidate satellites from a satellite system according to satellite attributes, satellite altitude angles and satellite signal-to-noise ratios recorded in the description information of each satellite.

The satellite attribute of the first candidate satellite is not a geosynchronous orbit satellite (the orbit of the geosynchronous orbit satellite is unstable), the satellite altitude of the first candidate satellite meets a preset cut-off altitude, and the satellite signal-to-noise ratio of the first candidate satellite meets a preset cut-off signal-to-noise ratio.

S101-2, each first candidate satellite with satellite observation values free of defects is used as a second candidate satellite.

Satellite observations include, among other things, pseudoranges, carrier phases, doppler, signal-to-noise ratio (snr), etc.

In an embodiment of the present invention, the satellite system may have a plurality of observation frequencies, and in general, the satellite includes an L1 frequency and an L2 frequency, where the L1 frequency is generally used habitually in the process of resolving the positioning result.

As a possible implementation, if the satellite observations of the L1 frequency are incomplete, i.e. lack of pseudo-range, carrier phase, doppler or signal-to-noise ratio, etc., the first candidate satellite needs to be rejected, i.e. cannot be used as the second candidate satellite.

And S101-3, if the number of the second candidate satellites is not greater than the first preset threshold, each second candidate satellite is used as an available satellite.

The first preset threshold value can be set according to actual needs.

For example, assuming that the first preset threshold is M, the number of second candidate satellites obtained by the flow of steps S101-1 to S101-2 is n1. When n1< M or n1=m, then n1 second candidate satellites may each be considered an available satellite. When n1> M, then the n1 second candidate satellites need to be screened again.

Therefore, the implementation procedure of step S101 further includes:

s101-4, if the number of the second candidate satellites is larger than the first preset threshold, each second candidate satellite with ionospheric delay parameters recorded in the description information is used as a third candidate satellite.

In general, an operator base station has a better observation condition, and when the data is not recorded in the description information of the satellite, it means that the signal of the satellite may have a problem with unknown reasons, so the STEC may be used as a standard for determining the availability of the satellite.

And S101-5, if the number of the third candidate satellites is not greater than the first preset threshold, each third candidate satellite is used as an available satellite.

For example, assuming that the first preset threshold is M, the number of third candidate satellites obtained by the flow of steps S101-1 to S101-4 is n2. When n2< M or n2=m, then n2 third candidate satellites may each be considered an available satellite. When n2> M, then the n2 third candidate satellites need to be screened again.

Therefore, the implementation procedure of step S101 further includes:

s101-6, if the number of the third candidate satellites is larger than the first preset threshold, each third candidate satellite with the quality factor for the ionospheric delay parameter recorded in the description information is used as a fourth candidate satellite.

The quality factor for ionospheric delay parameters (qi_stec) may also be used as a criterion for determining availability of satellites, and for satellites whose description information has a STEC but has no qi_stec recorded, this means that the operator does not commit to the signal accuracy of the satellite.

S101-7, if the number of the fourth candidate satellites is not greater than the first preset threshold, each fourth candidate satellite is used as an available satellite.

For example, assuming that the first preset threshold is M, the number of fourth candidate satellites obtained by the flow of steps S101-1 to S101-6 is n3. When n3< M or n3=m, then n3 fourth candidate satellites may all be available satellites. When n3> M, then the n3 fourth candidate satellites need to be screened again.

Therefore, the implementation procedure of step S101 further includes:

and S101-8, if the number of the fourth candidate satellites is larger than the first preset threshold, taking each fourth candidate satellite with the satellite attribute not being the inclined geosynchronous orbit satellite in the description information as a fifth candidate satellite.

The orbit of the geosynchronous orbit satellite is relatively unstable, so when the number of the fourth candidate satellites obtained through the process of steps S101-1 to S101-6 obtained through the above steps is still greater than the first preset threshold, whether the satellite attribute is the geosynchronous orbit satellite is taken as a screening standard.

And S101-9, if the number of the fifth candidate satellites is not greater than the first preset threshold, each fifth candidate satellite is used as an available satellite.

For example, assuming that the first preset threshold is M, the number of fifth candidate satellites obtained by the flow of steps S101-1 to S101-6 is n4. When n4< M or n4=m, then n4 fifth candidate satellites may each be considered an available satellite. When n4> M, then the n4 fifth candidate satellites need to be screened again.

Therefore, the implementation procedure of step S101 further includes:

s101-10, if the number of the fifth candidate satellites is larger than a first preset threshold, determining available satellites with the first preset threshold from all the fifth candidate satellites according to satellite numbers in the description information.

Alternatively, all the fifth candidate satellites may be ordered from small to large according to satellite numbers, and then, starting from the first fifth candidate satellite after the ordering, the first fifth candidate satellite with the preset threshold value is sequentially used as an available satellite.

Alternatively, all fifth candidate satellites may be ordered from large to small according to satellite numbers, and then, starting from the first fifth candidate satellite after the ordering, the first preset threshold number of fifth candidate satellites are sequentially used as available satellites.

An example explanation is given below with reference to fig. 2 for a possible implementation step of step S101 described above.

As shown in fig. 2, the screening process of the available satellites is divided into a necessary screening step and an unnecessary screening step.

The necessary steps are as follows:

step (1), screening satellites with satellite altitude angles meeting preset cut-off altitude angles and satellite signal-to-noise ratios meeting preset cut-off signal-to-noise ratios from a satellite system;

step (2), removing all satellites with the satellite attribute of geosynchronous orbit satellites from the satellites screened in the step (1);

and (3) removing all satellites with satellite observation value incomplete from the satellites screened in the step (2).

If the number of satellites screened in the step (3) is greater than the set threshold, the satellites screened in the step (3) are subjected to the following unnecessary steps.

It will be appreciated that if the optional step is performed depending on whether the number of currently screened satellites is greater than a set threshold, if the number of currently screened satellites is not greater than the set threshold, then no subsequent optional step is performed.

And (4) removing all satellites which are not provided with ionospheric delay parameters STEC by an operator from the satellites screened in the step (3).

And (5) if the number of the satellites screened in the step (4) is still larger than the set threshold value, executing the step (5).

And (5) removing all satellites of the quality factor QI_STEC which are not promised to be aiming at the ionospheric delay parameters by an operator from the satellites screened in the step (4).

And (3) if the number of the satellites screened in the step (5) is still larger than the set threshold value, executing the step (6).

And (6) removing all satellites with the satellite attribute of an inclined geosynchronous orbit satellite from the satellites screened in the step (5).

And (3) if the number of the satellites screened in the step (6) is still larger than the set threshold value, executing the step (7).

And (7) sequencing the satellites screened in the step (6) according to satellite numbers, and sequentially taking the satellites meeting the set threshold as available satellites from the first satellite after sequencing.

And S102, carrying out Kalman filtering on satellite observation values of all available satellites to obtain a positioning result floating solution and a plurality of first floating ambiguity parameters.

In the embodiment of the invention, the following non-combined observation equation is constructed for the satellite observation value of each available satellite:

L =p+dtr-dts-T _ion +T _trop +N+upd+eL

P=p+dtr-dts+T _ion +T _trop +DCB _s -DCB _r +eP

wherein L is carrier phase observation, P is pseudo-range observation, P is satellite-to-receiver distance, dtr is receiver clock error, dts is satellite clock error, T _ion For tropospheric delay, T _trop For tropospheric delay, DCB _s Is the hardware delay of satellite end and DCB _r Hardware delay of a receiver, uncorrected phase delay of upd, error of eL as phase observation value, error of eP as pseudo-range observation value and ambiguity parameter of N;

it should be noted that the satellite observations of each available satellite may construct a pseudo-range equation and a carrier phase equation, which together form a non-combined set of observation equations.

And carrying out Kalman filtering on the non-combined observation equation set to obtain a positioning result floating point solution and a plurality of first floating point ambiguity parameters.

And S103, fixing the plurality of first floating ambiguity parameters to improve the accuracy of the floating solution of the positioning result and obtain a positioning result fixing solution representing the running position of the vehicle.

As a possible implementation manner, the implementation procedure of step S103 may include:

s103-1, performing wide lane fixing processing on the plurality of first floating ambiguity parameters to obtain a second ambiguity parameter set.

Normally, since the satellite system has the observation frequencies L1 and L2, the non-combined observation equation set at the L1 frequency is subjected to Kalman filtering to obtain the firstFloating point ambiguity parameter N ₁ Kalman filtering is carried out on a non-combined observation equation set under the L2 frequency, so that a first floating ambiguity parameter N can be obtained ₂ 。

Alternatively, the implementation process of step S103-1 may be as follows:

s103-1-1, for any available satellite, performing wide-lane combination on the first floating ambiguity parameters corresponding to the available satellite to obtain an ambiguity combination value corresponding to the available satellite.

In an embodiment of the invention, a first floating ambiguity parameter N for an available satellite ₁ And N ₂ Wide-lane combination is carried out to obtain an ambiguity combination value N corresponding to the available satellite ₁₊₂ 。

S103-1-2, constructing a single difference equation by using the ambiguity combination value corresponding to the available satellite and the ambiguity combination value of the pre-selected reference satellite, and obtaining the single difference ambiguity parameter corresponding to the available satellite.

The selection of the reference satellite is mainly to make the geometric precision factor RDOP minimum, namely, all available satellites are respectively used as the reference satellites to carry out RDOP calculation, and finally, the available satellite with the minimum RDOP value is selected as the reference satellite. In addition, the satellite with the largest altitude angle can be selected from all available satellites to serve as a reference satellite.

The expression of the single difference equation is N' =n ₁₊₂ -(N ₁₊₂ ) 'where N' is the single difference ambiguity parameter for the available satellites, N ₁₊₂ Combined ambiguity values for available satellites, (N) ₁₊₂ ) ' is the combined ambiguity value for the reference satellite.

And traversing each available satellite, and carrying out the flow of the step S103-1 to S103-1-2 on each available satellite to obtain the single-difference ambiguity parameter corresponding to each available satellite.

S103-1-3, screening the single-difference ambiguity parameters corresponding to all the available satellites according to the description information of each available satellite to obtain a single-difference ambiguity parameter set.

The description information comprises UPD product description, continuous observation epoch number and rounding success rate check record.

Optionally, the implementation process of step S103-1-3 is as follows:

s103-1-3a, determining all first satellites to be determined from all available satellites according to UPD product description, continuous observation epoch number and rounding success rate verification record of each available satellite.

The UPD product description of the first to-be-determined satellite is not null, the number of continuous observation epochs of the first to-be-determined satellite is not smaller than the preset minimum epoch number, and the rounding success rate check record of the first to-be-determined satellite is passed.

And S103-1-3b, if the number of the first satellites to be determined is not greater than a second preset threshold value, adding the single-difference ambiguity parameter corresponding to each first satellite to be determined into a single-difference ambiguity parameter set.

The second preset threshold value can be set according to actual needs.

For example, assuming that the second preset threshold is K, the number of first satellites to be determined obtained from the flow of step S103-1-3a is m 1. When m1< K or m1=k, the single-difference ambiguity parameters corresponding to the m1 first satellites to be determined may be added to the single-difference ambiguity parameter set. When m1> K, then m1 first satellites need to be screened again.

Therefore, the implementation process of step S103-1-3 further includes:

and S103-1-3c, if the number of the first satellites to be determined is greater than a second preset threshold value, acquiring the post-verification phase residual error of each first satellite to be determined.

The post-test phase residual error is generated when the satellite observation value of the first satellite to be determined is subjected to Kalman filtering.

And S103-1-3d, determining all second pending satellites from all first pending satellites according to the post-test phase residual errors of each first pending satellite.

The post-verification phase residual error of the second undetermined satellite meets preset screening conditions.

As the post-test phase residual includes a plurality of residual values for different observation frequencies, it is understood that the preset screening condition means that the residual value of each observation frequency is not greater than a preset residual threshold.

Thus, the implementation of steps S103-1-3d may be as follows:

aiming at any first to-be-determined satellite, if the residual value of each observation frequency of the first to-be-determined satellite is not greater than a preset residual threshold, taking the first to-be-determined satellite as a second to-be-determined satellite;

Illustratively, assuming that the post-verification phase residual of the first pending satellite includes a residual value L1res at an observation frequency L1, a residual value L2res at an observation frequency L2, a preset residual threshold value is 0.02.

If L1res >0.02 and/or L2res >0.02, this means that the first pending satellite cannot act as a second pending satellite.

If L1res < = 0.02 and L2res < = 0.02, the first pending satellite may be regarded as the second pending satellite.

And S103-1-3e, if the number of the second undetermined satellites is not greater than a second preset threshold value, adding the single-difference ambiguity parameter corresponding to each second undetermined satellite into a single-difference ambiguity parameter set.

For example, assuming that the second preset threshold is K, the number of second pending satellites obtained by the flow of steps S103-1-3a to S103-1-3d is m 2. When m2< K or m2=k, the single-difference ambiguity parameters corresponding to the m2 second undetermined satellites may be added to the single-difference ambiguity parameter set. When m2> K, then m2 first satellites need to be screened again.

Therefore, the implementation process of step S103-1-3 further includes:

s103-1-3f, if the number of the second undetermined satellites is larger than a second preset threshold, determining second target satellites with the preset threshold from all the second undetermined satellites according to satellite numbers in the description information of each second undetermined satellite.

Optionally, all the second pending satellites may be ordered from small to large according to satellite numbers, and then, starting from the first second pending satellite after the ordering, the second predetermined threshold number of second pending satellites are sequentially used as target satellites.

Optionally, all the second undetermined satellites may be ordered from large to small according to satellite numbers, and then, starting from the first second undetermined satellite after the ordering, the second undetermined satellites with the second preset threshold value are sequentially used as target satellites.

In another possible implementation manner, for the case that the number of the second undetermined satellites is greater than the second preset threshold, the sum of the residual values of each observation frequency of each second undetermined satellite may be obtained, all the second undetermined satellites are ordered according to the sum of the residual values of each observation frequency from small to large, and then the second preset threshold number of the second undetermined satellites are sequentially used as the target satellites from the first second undetermined satellite after the ordering.

S103-1-3g, adding the single-difference ambiguity parameters corresponding to each target satellite into a single-difference ambiguity parameter set.

An example illustration is given below with reference to fig. 3 for a possible implementation of step S103-1-3 described above.

As shown in fig. 3, the screening process for single difference ambiguity parameters includes necessary steps and unnecessary steps.

The necessary steps are as follows:

and (1) reserving single-difference ambiguity parameters of available satellites of which UPD products are described as not empty, and eliminating the single-difference ambiguity parameters of other satellites.

Step (2), reserving single-difference ambiguity parameters of available satellites with continuous observation epoch numbers not smaller than a preset minimum epoch number for the single-difference ambiguity parameters screened in the step (1), and eliminating the single-difference ambiguity parameters of other satellites;

and (3) reserving the single-difference ambiguity parameters screened in the step (2), recording the rounding success rate check as the single-difference ambiguity parameters of the passed available satellites, and eliminating the single-difference ambiguity parameters of the rest satellites.

If the number of single-difference ambiguity parameters screened in the step (3) is greater than the set threshold, the following unnecessary steps are carried out on the single-difference ambiguity parameters screened in the step (3).

It will be appreciated that if the optional step is performed depending on whether the number of currently screened single-difference ambiguity parameters is greater than a set threshold, if the number of currently screened single-difference ambiguity parameters is not greater than the set threshold, then no subsequent optional step is performed.

And (4) reserving the single-difference ambiguity parameters of the satellites with the phase residual errors meeting the preset screening conditions after the single-difference ambiguity parameters are screened out in the step (3), and eliminating the single-difference ambiguity parameters of the other satellites.

And (5) if the number of the single-difference ambiguity parameters screened in the step (4) is still larger than the set threshold value.

And (5) sorting the single-difference ambiguity parameters screened in the step (4) according to satellite numbers of corresponding satellites, and sequentially adding the single-difference ambiguity parameters meeting a set threshold value into a single-difference ambiguity parameter set from the first single-difference ambiguity parameter after the sorting.

S103-1-4, performing LAMBDA search on the single-difference ambiguity parameter set sequentially, and performing ratio test and fixed success rate test to obtain a wide-lane ambiguity parameter set.

In the embodiment of the invention, the single-difference ambiguity parameter set is fixed by sequentially carrying out LAMBDA search, ratio test and fixed success rate test on the single-difference ambiguity parameter set.

S103-1-5, restraining Kalman filtering performed again on satellite observation values of all available satellites by using the wide-lane ambiguity parameter set to obtain the second floating ambiguity parameter set.

S103-2, performing multi-frequency fixed processing on the second floating point ambiguity parameter set to obtain an integer ambiguity parameter set.

The second floating ambiguity parameter set includes a subset corresponding to a first observation frequency and a subset corresponding to a second observation frequency, where the first observation frequency is the aforementioned L1 frequency, and the second observation frequency is the aforementioned L2 frequency.

Alternatively, the implementation of step S103-2 may be as follows:

s103-2-1, performing LAMBDA search on the subset corresponding to the first observation frequency in sequence, and performing ratio test and fixed success rate test to obtain a subset fixed result corresponding to the first observation frequency.

In the embodiment of the invention, the subset corresponding to the first observation frequency is fixed by sequentially performing LAMBDA search, ratio test and fixed success rate test on the subset corresponding to the first observation frequency.

S103-2-2, performing LAMBDA search on the subset corresponding to the second observation frequency in sequence, and performing ratio test and fixed success rate test to obtain a subset fixed result corresponding to the second observation frequency.

S103-2-3, obtaining an integer ambiguity parameter set according to the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency.

In the embodiment of the invention, the subset corresponding to the second observation frequency is fixed by sequentially performing LAMBDA search, ratio test and fixed success rate test on the subset corresponding to the second observation frequency.

In an embodiment of the present invention, the following may occur when step S103-2-3 is performed.

In the first case, the subset fixing result corresponding to the first observation frequency meets the preset condition, and the subset fixing result corresponding to the second observation frequency does not meet the preset condition.

The preset condition means that the result of the LAMBDA search on the subset passes the ratio test and the fixed success rate test, namely the subset is fixed successfully.

And when the subset fixing corresponding to the first observation frequency is successful and the subset fixing corresponding to the second observation frequency is unsuccessful, taking the subset fixing result corresponding to the first observation frequency as an integer ambiguity parameter set.

And in the second case, the subset fixing result corresponding to the first observation frequency does not meet the preset condition, and the subset fixing result corresponding to the second observation frequency meets the preset condition.

And when the subset fixing corresponding to the first observation frequency is unsuccessful, the subset fixing corresponding to the second observation frequency is successful, and the subset fixing result corresponding to the second observation frequency is used as an integer ambiguity parameter set.

And thirdly, the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency meet preset conditions.

When the subset corresponding to the first observation frequency and the subset corresponding to the second observation frequency are both fixed successfully, the corresponding processing flow is as follows:

firstly, performing Kalman filtering on satellite observation values of all the available satellites again by using a subset fixing result corresponding to a first observation frequency and a subset fixing result constraint corresponding to a second observation frequency respectively to obtain a filtering result corresponding to the first observation frequency and a filtering result corresponding to the second observation frequency;

then, calculating the deviation between the filtering result corresponding to the first observation frequency and the filtering result corresponding to the second observation frequency;

and finally, if the deviation is not greater than a preset deviation threshold value, taking the subset fixing result corresponding to the first observation frequency as an integer ambiguity parameter set.

The filtering result refers to position coordinates, and the deviation between the filtering results refers to a space difference between the two position coordinates.

It will be appreciated that if the deviation is greater than the preset deviation threshold value, it means that neither the subset fixing result corresponding to the first observation frequency nor the subset fixing result corresponding to the second observation frequency can be used as the integer ambiguity parameter set.

And in the fourth case, the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency do not meet the preset condition.

In this case, neither the subset fixing result corresponding to the first observation frequency nor the subset fixing result corresponding to the second observation frequency can be used as the integer ambiguity parameter set.

S103-3, restraining Kalman filtering performed again on satellite observation values of all the available satellites by utilizing the integer ambiguity parameter set to obtain a fixed solution of a positioning result.

The positioning result fixed solution comprises a position coordinate p in an integer format.

Compared with the prior art, the embodiment of the invention has the beneficial effects that:

(1) According to the description information of the data representing the satellite performance recorded by each satellite in the satellite system, a first preset threshold number of available satellites are screened out from the satellite system, so that the number of satellites participating in Kalman filtering is limited, the resource consumption of a Kalman filtering algorithm is reduced, a consumer-level low-cost GNSS module can be adapted, and the influence of low-quality satellite observation values on a PPP-RTK positioning result calculation process is reduced.

(2) And screening the single-difference ambiguity parameters of all available satellites to obtain a single-difference ambiguity parameter set, so that the number of single-difference ambiguity parameters participating in fixed processing is limited, the resource consumption of a fixed processing algorithm is reduced, and the resolving efficiency of a positioning result is improved.

(3) And determining integer ambiguity parameter sets for restraining Kalman filtering of satellite observation values by using ambiguity fixing results under different observation frequencies, thereby improving the accuracy of the ambiguity fixing results.

In order to perform the corresponding steps in the above method embodiments and in each possible implementation, an implementation of the positioning result solver 100 is given below.

Referring to fig. 4, the positioning result calculating apparatus 100 includes a filtering module 101, a processing module 102, and a fixing module 103.

The screening module 101 is configured to screen a plurality of available satellites from the satellite system according to the description information of each satellite in the satellite system, where the description information records data representing the performance of the satellite.

The processing module 102 is configured to perform kalman filtering on satellite observations of all available satellites to obtain a positioning result floating solution and a plurality of first floating ambiguity parameters.

And the fixing module 103 is configured to perform fixing processing on the plurality of first floating ambiguity parameters to improve the accuracy of the floating solution of the positioning result, and obtain a positioning result fixing solution that characterizes the driving position of the vehicle.

Optionally, the screening module 101 is specifically configured to screen all first candidate satellites from the satellite system according to the satellite attribute, the satellite altitude angle and the satellite signal-to-noise ratio recorded in the description information of each satellite, where the satellite attribute of the first candidate satellite is not a geosynchronous orbit satellite, the satellite altitude angle of the first candidate satellite meets a preset cut-off altitude angle, and the satellite signal-to-noise ratio of the first candidate satellite meets a preset cut-off signal-to-noise ratio; taking each first candidate satellite with satellite observation values free of incomplete as a second candidate satellite; and if the number of the second candidate satellites is not greater than the first preset threshold value, each second candidate satellite is used as an available satellite.

Optionally, the screening module 101 is further specifically configured to, if the number of second candidate satellites is greater than the first preset threshold, take each second candidate satellite with ionospheric delay parameters recorded in the description information as a third candidate satellite; and if the number of the third candidate satellites is not greater than the first preset threshold value, each third candidate satellite is used as an available satellite.

Optionally, the screening module 101 is further specifically configured to, if the number of third candidate satellites is greater than the first preset threshold, take each third candidate satellite with a quality factor for the ionospheric delay parameter recorded in the description information as a fourth candidate satellite; and if the number of the fourth candidate satellites is not greater than the first preset threshold value, each fourth candidate satellite is used as an available satellite.

Optionally, the screening module 101 is further specifically configured to, if the number of fourth candidate satellites is greater than the first preset threshold, take each fourth candidate satellite whose satellite attribute is not the inclined geosynchronous orbit satellite in the description information as the fifth candidate satellite; and if the number of the fifth candidate satellites is not greater than the first preset threshold value, each fifth candidate satellite is used as an available satellite.

Optionally, the screening module 101 is further specifically configured to determine, if the number of the fifth candidate satellites is greater than the first preset threshold, a first preset threshold number of available satellites from all the fifth candidate satellites according to the satellite numbers in the description information.

Optionally, the fixing module 103 is specifically configured to perform a wide lane fixing process on the plurality of first floating ambiguity parameters to obtain a second floating ambiguity parameter set; performing multi-frequency fixed processing on the second floating point ambiguity parameter set to obtain an integer ambiguity parameter set; and constraining Kalman filtering performed again on satellite observation values of all the available satellites by using an integer ambiguity parameter set to obtain a positioning result fixed solution.

Optionally, the fixing module 103 is configured to perform a lane-wide fixing process on the plurality of first floating ambiguity parameters to obtain a second ambiguity parameter set, and specifically configured to perform lane-wide combination on the first floating ambiguity parameters corresponding to any one of the available satellites to obtain an ambiguity combination value corresponding to the available satellite; establishing a single difference equation by using the ambiguity combination value corresponding to the available satellite and the ambiguity combination value of the pre-selected reference satellite to obtain a single difference ambiguity parameter corresponding to the available satellite; traversing each available satellite to obtain a single-difference ambiguity parameter corresponding to each available satellite; screening the single-difference ambiguity parameters corresponding to all the available satellites according to the description information of each available satellite to obtain a single-difference ambiguity parameter set; sequentially performing LAMBDA search, ratio test and fixed success rate test on the single-difference ambiguity parameter set to obtain a wide-lane ambiguity parameter set; and constraining Kalman filtering performed again on satellite observation values of all the available satellites by using the wide-lane ambiguity parameter set to obtain the second floating ambiguity parameter set.

Optionally, the description information includes a UPD product description, a continuous observation epoch number, and a rounding success rate verification record, where the fixing module 103 is configured to screen, according to the description information of each available satellite, corresponding single-difference ambiguity parameters of all available satellites to obtain a single-difference ambiguity parameter set, and specifically configured to determine all first to-be-determined satellites from all available satellites according to the UPD product description, the continuous observation epoch number, and the rounding success rate verification record of each available satellite, where the UPD product description of the first to-be-determined satellite is not null, the continuous observation epoch number of the first to-be-determined satellite is not less than a preset minimum epoch number, and the rounding success rate verification record of the first to-be-determined satellite is passed; and if the number of the first satellites to be determined is not greater than the second preset threshold, adding the single-difference ambiguity parameter corresponding to each first satellite to be determined into a single-difference ambiguity parameter set.

Optionally, the fixing module 103 is further specifically configured to obtain a post-verification phase residual error of each first satellite to be determined if the number of the first satellites to be determined is greater than a second preset threshold; determining all second pending satellites from all first pending satellites according to the post-test phase residual error of each first pending satellite, wherein the post-test phase residual error of the second pending satellites meets preset screening conditions; and if the number of the second undetermined satellites is not greater than a second preset threshold, adding the single-difference ambiguity parameter corresponding to each second undetermined satellite into the single-difference ambiguity parameter set.

Optionally, the post-verification phase residual includes a plurality of residual values for different observation frequencies, and the fixing module 103 is specifically configured to determine, when determining all second to-be-determined satellites from all first to-be-determined satellites according to the post-verification phase residual of each first to-be-determined satellite, for any first to-be-determined satellite, if the residual value of each observation frequency of the first to-be-determined satellite is not greater than a preset residual threshold, take the first to-be-determined satellite as the second to-be-determined satellite; and traversing each first pending satellite to obtain all second pending satellites.

Optionally, the fixing module 103 is further specifically configured to determine, if the number of the second to-be-determined satellites is greater than a second preset threshold, a second preset threshold number of target satellites from all the second to-be-determined satellites according to the satellite number in the description information of each second to-be-determined satellite; and adding the single-difference ambiguity parameters corresponding to each target satellite into a single-difference ambiguity parameter set.

Optionally, the second floating ambiguity parameter set includes a subset corresponding to the first observation frequency and a subset corresponding to the second observation frequency, and the fixing module 103 is configured to perform multi-frequency fixing processing on the second floating ambiguity parameter set to obtain an integer ambiguity parameter set, and specifically perform LAMBDA search, ratio test and fixing success rate test on the subset corresponding to the first observation frequency in sequence to obtain a subset fixing result corresponding to the first observation frequency; sequentially performing LAMBDA search on the subset corresponding to the second observation frequency, and performing ratio test and fixed success rate test to obtain a subset fixed result corresponding to the second observation frequency; and obtaining an integer ambiguity parameter set according to the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency.

Optionally, the fixing module 103 is configured to, when obtaining the integer ambiguity parameter set according to the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency, specifically, if the subset fixing result corresponding to the first observation frequency meets a preset condition and the subset fixing result corresponding to the second observation frequency does not meet the preset condition, take the subset fixing result corresponding to the first observation frequency as the integer ambiguity parameter set; and if the subset fixing result corresponding to the first observation frequency does not meet the preset condition and the subset fixing result corresponding to the second observation frequency meets the preset condition, taking the subset fixing result corresponding to the second observation frequency as an integer ambiguity parameter set.

Optionally, the fixing module 103 is configured to, when obtaining the integer ambiguity parameter set according to the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency, specifically, if the subset fixing result corresponding to the first observation frequency and the subset fixing result corresponding to the second observation frequency both meet the preset condition, perform kalman filtering on satellite observations of all the available satellites again by using the subset fixing result corresponding to the first observation frequency and the subset fixing result constraint corresponding to the second observation frequency respectively, so as to obtain a filtering result corresponding to the first observation frequency and a filtering result corresponding to the second observation frequency; calculating deviation between a filtering result corresponding to the first observation frequency and a filtering result corresponding to the second observation frequency; and if the deviation is not greater than the preset deviation threshold value, taking the subset fixing result corresponding to the first observation frequency as an integer ambiguity parameter set.

It will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the positioning result calculating apparatus 100 described above may refer to the corresponding process in the foregoing method embodiment, and will not be described herein again.

Further, referring to fig. 5, the electronic device 200 may include a memory 210 and a processor 220.

The processor 220 may be a general-purpose central processing unit (CentralProcessing Unit, CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the positioning result calculation method provided by the above method embodiment.

The MEMory 210 may be, but is not limited to, ROM or other type of static storage device that can store static information and instructions, RAM or other type of dynamic storage device that can store information and instructions, or an electrically erasable programmable Read-Only MEMory (EEPROM), compact Read-Only MEMory (CD-ROM) or other optical disk storage, optical disk storage (including compact disc, laser disc, optical disc, digital versatile disc, blu-ray disc, etc.), magnetic disk storage or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 210 may be stand alone and be coupled to the processor 220 via a communication bus. Memory 210 may also be integrated with processor 220. Wherein the memory 210 is used to store machine executable instructions for performing aspects of the present application. Processor 220 is operative to execute machine executable instructions stored in memory 210 to implement the method embodiments described above.

The embodiment of the present invention also provides a computer readable storage medium containing a computer program, where the computer program when executed may be configured to perform the related operations in the positioning result resolving method provided in the above method embodiment.

The present invention is not limited to the above embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.

Claims

1. A positioning result solving method, characterized in that the method comprises:

fixing the plurality of first floating ambiguity parameters to improve the accuracy of the floating solution of the positioning result and obtain a positioning result fixing solution representing the running position of the vehicle;

The step of performing fixed processing on the plurality of first floating ambiguity parameters includes:

constraining Kalman filtering performed again on satellite observation values of all the available satellites by using the integer ambiguity parameter set to obtain a fixed solution of the positioning result;

the step of performing wide lane fixing processing on the plurality of first floating ambiguity parameters to obtain a second floating ambiguity parameter set includes:

Screening the corresponding single-difference ambiguity parameters of all the available satellites according to the description information of each available satellite to obtain a single-difference ambiguity parameter set, wherein the description information comprises UPD product description, continuous observation epoch number and rounding success rate verification record;

sequentially performing LAMBDA search, ratio test and fixed success rate test on the single-difference ambiguity parameter set to obtain a wide-lane ambiguity parameter set;

2. The method of claim 1, wherein the step of screening a plurality of available satellites from the satellite system based on the description information of each satellite in the satellite system comprises:

3. The method of claim 2, wherein the method further comprises:

4. A method as claimed in claim 3, wherein the method further comprises:

5. The method of claim 4, wherein the method further comprises:

6. The method of claim 5, wherein the method further comprises:

7. The method of claim 1 wherein said description information includes UPD product descriptions, continuous observation epoch numbers, and rounding success rate check records, said step of screening all of said available satellites for corresponding single-difference ambiguity parameters based on description information of each of said available satellites comprises:

8. The method of claim 7, wherein the method further comprises:

9. The method of claim 8 wherein said post-test phase residuals include a plurality of residual values for different observation frequencies, and wherein said step of determining all second pending satellites from all said first pending satellites based on the post-test phase residuals for each said first pending satellite comprises:

10. The method of claim 8, wherein the method further comprises:

11. The method of claim 1, the second set of floating ambiguity parameters comprising a corresponding subset of first observation frequencies and a corresponding subset of second observation frequencies, the step of performing a multi-frequency fixed processing on the second set of floating ambiguity parameters to obtain an integer ambiguity parameter set comprising:

12. The method of claim 11, wherein the step of obtaining the integer ambiguity parameter set based on the subset fixing result for the first observation frequency and the subset fixing result for the second observation frequency comprises:

13. The method of claim 12, wherein the step of deriving the integer ambiguity parameter set based on the subset fixing result for the first observation frequency and the subset fixing result for the second observation frequency further comprises:

14. A positioning result solver, the device comprising:

the fixing module is used for fixing the plurality of first floating ambiguity parameters so as to improve the accuracy of the floating solution of the positioning result and obtain a positioning result fixing solution representing the driving position of the vehicle;

the fixing module is specifically used for:

15. An electronic device comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, implements the positioning result resolution method of any one of claims 1-13.

16. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the positioning result solving method according to any one of claims 1 to 13.