CN115963524A - Vehicle-mounted terminal and vehicle-mounted system for assisting positioning of GNSS module - Google Patents
Vehicle-mounted terminal and vehicle-mounted system for assisting positioning of GNSS module Download PDFInfo
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Abstract
The invention relates to a vehicle-mounted terminal and a vehicle-mounted system for assisting a GNSS module to position, which comprise: the atmospheric pressure measurement module is used for acquiring an atmospheric pressure altitude value; the GNSS module is used for acquiring values such as longitude and latitude, satellite positioning altitude and the like; the communication module is used for carrying out communication and acquiring a cell identification code; the control module is used for judging the satellite signal intensity, and when the signal intensity is strong, altitude compensation calibration is carried out based on the atmospheric pressure altitude numerical value, the satellite positioning altitude numerical value and the cell identification code so as to update the first compensation numerical value table; otherwise, acquiring an altitude compensation calibration value from the compensation numerical value table based on the atmospheric altitude numerical value and the cell identification code to perform altitude compensation; and the storage module is used for storing a compensation numerical value table comprising a first compensation numerical value table and a second compensation numerical value table acquired from the remote server. Under the condition that satellite signals are weak, the method utilizes the atmospheric pressure altitude numerical value and the altitude compensation calibration numerical value to assist in calculating the satellite positioning altitude and position, and improves the positioning accuracy.
Description
Technical Field
The invention relates to the field of vehicle-mounted terminal positioning, in particular to a vehicle-mounted terminal and a vehicle-mounted system for assisting GNSS module positioning.
Background
In satellite positioning calculations, altitude is a key coordinate information. In the satellite positioning process, various interferences cause ephemeris errors of different degrees, and the positioning time and the positioning accuracy are directly influenced. If the altitude can be obtained in advance, not only the positioning calculation complexity can be reduced, but also the positioning time can be shortened. The current altitude is obtained by often adopting atmospheric pressure calculation except satellite positioning calculation, but the atmospheric pressure is used for calculating the altitude and is easy to be influenced by the atmospheric environment to generate errors. In order to realize auxiliary positioning based on the atmospheric altitude when the satellite signal is weak, the compensation relationship between the atmospheric altitude and the satellite positioning altitude needs to be established in a calibration mode when the satellite signal is strong.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a vehicle-mounted terminal and a vehicle-mounted system for assisting a GNSS module in positioning, wherein when satellite signals are strong, an altitude compensation calibration value is obtained by utilizing the calibration compensation relation between the acquired atmospheric altitude and the satellite positioning altitude; when satellite signals are weak, more accurate altitude information is obtained by utilizing the acquired atmospheric altitude and the corresponding altitude compensation calibration value, and then the satellite signals are fed back to assist the positioning of the GNSS module.
The technical scheme adopted by the invention for solving the technical problems is as follows:
in one aspect, an in-vehicle terminal for assisting GNSS module positioning includes:
the atmospheric pressure measurement module is used for acquiring an atmospheric pressure value and converting the atmospheric pressure value into a corresponding atmospheric pressure altitude value;
the GNSS module is used for acquiring the position information and converting the position information into corresponding longitude and latitude information and a satellite positioning altitude numerical value;
the communication module is used for acquiring the cell identification code of the current communication base station and is also used for carrying out wireless communication with the remote server;
the control module is used for judging the satellite signal intensity received by the GNSS module, and when the satellite signal intensity is high, altitude compensation calibration is carried out based on the atmospheric pressure altitude numerical value, the satellite positioning altitude numerical value and the cell identification code so as to update the first compensation numerical value table; otherwise, acquiring an altitude compensation calibration value from the compensation numerical value table based on the atmospheric altitude numerical value and the cell identification code to perform altitude compensation;
the storage module is used for storing a compensation value table; the compensation numerical value table comprises a first compensation numerical value table and a second compensation numerical value table acquired from a remote server; and altitude compensation calibration values corresponding to the atmospheric altitude value and the cell identification code are stored in the first compensation value table and the second compensation value table.
Preferably, when the number of the available satellites is greater than or equal to a preset number, the signal-to-noise ratio of each satellite is greater than a first preset value, and both the position precision factor value and the vertical precision factor value are smaller than a second preset value, the control module judges that the satellite signals are strong.
Preferably, the altitude compensation calibration is performed based on the atmospheric altitude value, the satellite positioning altitude value and the cell identification code to update the first compensation value table, which specifically includes:
acquiring longitude and latitude information and a satellite positioning altitude numerical value output by the GNSS module in real time; collecting the atmospheric pressure altitude numerical value output by the atmospheric pressure measurement module in real time; acquiring a cell identification code of the communication base station output by the communication module in real time;
if the cell identification code is successfully acquired, calibrating and compensating the atmospheric pressure altitude numerical value based on the satellite positioning altitude numerical value, obtaining the atmospheric pressure altitude numerical value and the altitude compensation calibration numerical value of the satellite positioning altitude numerical value under the grid area corresponding to the current cell identification code, establishing the compensation relation of the atmospheric pressure altitude numerical value and the satellite positioning altitude numerical value under the current cell identification code grid area, and updating a first compensation numerical value table in the storage module.
Preferably, if the identification of the cell identification code fails, the cell area is customized by taking the current position point as the center and the preset distance as the radius, and the unique customized identification code is set, so that the altitude compensation calibration value of the atmospheric pressure altitude value and the satellite positioning altitude value under the grid area corresponding to the current customized identification code is obtained, the compensation relationship of the atmospheric pressure altitude value and the satellite positioning altitude value under the grid area of the current customized identification code is established, and the first compensation value table in the storage module is updated.
Preferably, after updating the first compensation value table, the method further includes: if the vehicle-mounted terminal is currently located in a network area with communication signals, the compensation relation data under the current grid area of the vehicle-mounted terminal is uploaded to a remote server end through a communication module; the compensation relation data comprise a current grid area type, a cell identification code, a user-defined identification code, longitude and latitude, an atmospheric pressure altitude value, a satellite positioning altitude value and an altitude compensation calibration value.
Preferably, the control module is further configured to obtain a second compensation value table stored in the remote server; the remote server receives compensation relation data of each grid area uploaded by different vehicle-mounted terminals at different times, fusion processing is carried out on the data of the combined grid areas, altitude compensation standard value groups of atmospheric pressure altitude values and satellite positioning altitude values under the same grid area, different altitude intervals and different time periods are obtained, and second compensation value tables of different grid areas are obtained through continuous updating.
Preferably, the obtaining of the second compensation value table stored by the remote server specifically includes:
the remote server periodically sends the second compensation numerical table to a control module of the vehicle-mounted terminal through a wireless communication network;
or;
when the control module detects that the cell identification code changes, judging whether a second compensation numerical table exists in the storage module, and if the second compensation numerical table does not exist locally, requesting a remote server to download the second compensation numerical table through a wireless communication network; if the second compensation numerical value table locally exists, judging whether the currently acquired cell identification code has a corresponding grid area, and if not, requesting a remote server to download and update the second compensation numerical value table through a wireless communication network;
and when the control module does not acquire the cell identification code, traversing all the user-defined grid areas, judging whether the last effective position of the vehicle-mounted terminal is in the user-defined grid area, and if the last effective position of the vehicle-mounted terminal is not in the user-defined grid area, requesting a remote server to download and update the second compensation value table when the wireless communication network is recovered.
Preferably, the altitude compensation calibration value is obtained from the compensation value table based on the atmospheric altitude value and the cell identification code to perform altitude compensation, and specifically includes:
acquiring an atmospheric pressure altitude numerical value calculated by the atmospheric pressure measuring module according to the atmospheric pressure numerical value;
detecting a current cell identification code output by the communication module, inquiring a corresponding grid area in a second compensation numerical value table through the cell identification code by the control module if a valid cell identification code is detected, inquiring the corresponding grid area in a first compensation numerical value table if the inquiry is failed, and acquiring a corresponding altitude compensation calibration numerical value;
step six, if the communication module does not detect an effective cell identification code, the control module searches corresponding grid areas in the second compensation numerical value table in a traversing mode according to the latest effective longitude and latitude of the vehicle-mounted terminal, if the search fails, the control module searches the corresponding grid areas in the first compensation numerical value table, and acquires a corresponding altitude compensation calibration value;
and step eight, the control module calculates the altitude under the calibration condition according to the acquired altitude compensation calibration value and the atmospheric pressure altitude value, and sends the altitude under the calibration condition to the GNSS module.
Preferably, if the altitude compensation calibration value is not obtained in both the fourth step and the sixth step, after the sixth step, the method further includes:
and setting the altitude compensation calibration value as the last effective altitude compensation calibration value in the vehicle-mounted terminal.
In another aspect, an in-vehicle system includes the plurality of in-vehicle terminals; the system also comprises a remote server which is respectively connected with each vehicle-mounted terminal; the remote server is used for receiving compensation relation data of each grid area uploaded by different vehicle-mounted terminals at different moments, carrying out fusion processing on the combined grid area data to obtain altitude compensation standard value groups of atmospheric pressure altitude values and satellite positioning altitude values under the same grid area and different altitude intervals and different time periods, and continuously updating to obtain second compensation value tables of different grid areas; and the remote server is also used for sending the second compensation value table to each vehicle-mounted terminal.
The invention has the following beneficial effects:
the invention relates to a vehicle-mounted terminal and a vehicle-mounted system for assisting positioning of a GNSS module, wherein when satellite signals are strong, altitude compensation calibration is carried out based on an atmospheric pressure altitude numerical value, a satellite positioning altitude numerical value and a cell identification code which are acquired in real time so as to update a first compensation numerical value table and a second compensation numerical value table; when the satellite signal is weak, acquiring an altitude compensation calibration value from the second compensation value table or the first compensation value table based on the atmospheric altitude value and the cell identification code to perform altitude compensation; therefore, when the satellite signal is weak, more accurate altitude information is obtained by utilizing the atmospheric altitude, and then the feedback assists the GNSS module (satellite positioning module) to carry out positioning.
The present invention will be described in further detail with reference to the drawings and embodiments, but the GNSS positioning assisted vehicle-mounted terminal and the GNSS positioning assisted vehicle-mounted system of the present invention are not limited to the embodiments.
Drawings
FIG. 1 is a block diagram of an exemplary vehicle-mounted terminal for aiding GNSS module positioning;
FIG. 2 is a flowchart of the present invention for updating a first compensation value table by the vehicle-mounted terminal;
FIG. 3 is a flowchart of the vehicle mounted terminal acquiring a second compensation value table of the remote server according to the present invention;
FIG. 4 is a flow chart of the present invention for altitude compensation by obtaining an altitude compensation calibration value from a compensation value table based on an atmospheric altitude value and a cell identification code;
fig. 5 is a block diagram showing the configuration of the in-vehicle system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art based on the embodiments of the present invention without any creative effort, belong to the protection scope of the embodiments of the present invention.
Referring to fig. 1, an in-vehicle terminal 10 for assisting GNSS module positioning includes:
the atmospheric pressure measurement module 101 is used for collecting an atmospheric pressure value and converting the atmospheric pressure value into a corresponding atmospheric pressure altitude value;
the GNSS module 102 is used for acquiring position information and converting the position information into corresponding longitude and latitude information and a satellite positioning altitude numerical value;
a communication module 103, configured to collect a cell identification code of a current communication base station, and perform wireless communication with the remote server 20;
the control module 104 is configured to determine the satellite signal strength received by the GNSS module 102, and when the satellite signal strength is high, perform altitude compensation calibration based on the atmospheric altitude value, the satellite positioning altitude value, and the cell identification code to update the first compensation value table; otherwise, acquiring an altitude compensation calibration value from the compensation numerical value table based on the atmospheric altitude numerical value and the cell identification code to perform altitude compensation;
a storage module 105 for storing a compensation value table; the compensation value table includes a first compensation value table and a second compensation value table obtained from the remote server 20; and altitude compensation calibration values corresponding to the atmospheric altitude value and the cell identification code are stored in the first compensation value table and the second compensation value table.
Specifically, when the number of available satellites is greater than or equal to a preset value, the signal-to-noise ratio of each satellite is greater than a first preset value, and both the position precision factor value and the vertical precision factor value are smaller than a second preset value, the control module 104 determines that the satellite signals are strong.
In this embodiment, the preset value is equal to 4, the first preset value is equal to 30, and the second preset value is equal to 3. That is, in the operation process of the vehicle-mounted terminal 10, the satellite signal strength is determined under the condition that the number of available satellites is not less than 4, and the signal-to-noise ratio of each satellite is greater than 30, and both the Position Precision factor of Precision (PDOP) value and the Vertical Precision factor of Precision (VDOP) of 3d positioning are less than 3.
Referring to fig. 2, the altitude compensation calibration is performed based on the atmospheric altitude value, the satellite positioning altitude value, and the cell identification code to update the first compensation value table, which specifically includes:
s201, acquiring longitude and latitude information and a satellite positioning altitude value output by the GNSS module 102 in real time; collecting the atmospheric pressure altitude numerical value output by the atmospheric pressure measurement module 101 in real time; acquiring a cell identification code of the communication base station output by the communication module 103 in real time;
s202, if the cell identification code is successfully acquired, calibrating and compensating the atmospheric pressure altitude numerical value based on the satellite positioning altitude numerical value to obtain the atmospheric pressure altitude numerical value and the altitude compensation calibration numerical value of the satellite positioning altitude numerical value under the grid area corresponding to the current cell identification code, establishing the compensation relation of the atmospheric pressure altitude numerical value and the satellite positioning altitude numerical value under the grid area of the current cell identification code, and updating a first compensation numerical value table in the storage module 105;
s203, if the identification of the acquired cell identification code fails, defining a grid area by self by taking a current position point as a center and taking a preset distance as a radius, setting a unique self-defined identification code, acquiring an altitude compensation calibration value of an atmospheric pressure altitude value and a satellite positioning altitude value under the grid area corresponding to the current self-defined identification code, establishing a compensation relation of the atmospheric pressure altitude value and the satellite positioning altitude value under the grid area of the current self-defined identification code, and updating a first compensation value table in the storage module 105.
Specifically, the altitude compensation calibration value may be a difference between an atmospheric altitude value and a satellite positioning altitude value; or, the altitude compensation calibration value may also be a ratio of the atmospheric pressure altitude value to the satellite positioning altitude value, or a ratio plus a coefficient, and the like, and may specifically be determined by a compensation relationship between the atmospheric pressure altitude value and the satellite positioning altitude value in the current cell identification code/user-defined identification code grid area.
Further, before calibrating and compensating the atmospheric pressure altitude value based on the satellite positioning altitude value, the method further includes: and filtering and cleaning the atmospheric pressure altitude numerical value, the satellite positioning altitude numerical value and the cell identification code, filtering and cleaning some redundant or abnormal data, wherein the specific method can use the existing cleaning method.
It should be noted that, during the operation of the in-vehicle terminal 10, the first compensation value table is continuously updated and perfected.
In this embodiment, after updating the first compensation value table, the method further includes: if the vehicle-mounted terminal 10 is currently located in a network area with communication signals, the compensation relation data under the current grid area of the vehicle-mounted terminal 10 is uploaded to the remote server 20 through the communication module 103; the compensation relation data comprises the type of the current grid area, a cell identification code, a user-defined identification code, longitude and latitude, an atmospheric pressure altitude value, a satellite positioning altitude value and an altitude compensation calibration value.
Further, if there is no communication signal, the control module 104 stores the compensation relation data in the corresponding grid area, and sends the corresponding compensation relation data to the remote server 20 after the communication signal is recovered.
In this embodiment, the control module 104 is further configured to obtain a second compensation value table stored in the remote server 20; the remote server 20 receives the compensation relation data of each grid area uploaded by different vehicle-mounted terminals 10 at different times, performs fusion processing on the combined grid area data to obtain altitude compensation standard value groups of the atmospheric pressure altitude value and the satellite positioning altitude value in the same grid area under different altitude intervals and different time periods, and obtains second compensation value tables of different grid areas through continuous updating.
Referring to fig. 3, the acquiring, by the in-vehicle terminal 10, the second compensation value table stored by the remote server 20 specifically includes:
s301, the remote server 20 periodically sends the second compensation value table to the control module 104 of the vehicle-mounted terminal 10 through the wireless communication network;
s302, when the control module 104 detects that the cell identification code changes, it is determined whether a second compensation value table exists in the storage module 105, and if the second compensation value table does not exist locally, the second compensation value table is downloaded to the remote server 20 through the wireless communication network; if the second compensation value table locally exists, judging whether the currently acquired cell identification code has a corresponding grid area, and if not, requesting a remote server 20 to download and update the second compensation value table through a wireless communication network;
s303, when the control module 104 does not obtain the cell identifier, traverse all the user-defined grid areas, determine whether the last valid position of the vehicle-mounted terminal 10 is in the user-defined grid area, and if there is no corresponding user-defined grid area, request the remote server 20 to download and update the second compensation value table when the wireless communication network is recovered.
In this embodiment, when the satellite signal is weak, altitude compensation calibration value is obtained from the compensation value table based on the atmospheric altitude value and the cell identification code to perform altitude compensation, and specifically includes:
s401, acquiring an atmospheric pressure altitude value calculated by the atmospheric pressure measurement module 101 according to the atmospheric pressure value;
s402, detecting the current cell identification code output by the communication module 103, if a valid cell identification code is detected, the control module 104 queries the corresponding grid area in the second compensation numerical table through the cell identification code, and if the query fails, queries the corresponding grid area in the first compensation numerical table, and acquires a corresponding altitude compensation calibration value;
s403, if the communication module 103 does not detect a valid cell id, the control module 104 queries the corresponding grid area in the second compensation value table in a traversal manner according to the latest valid longitude and latitude of the vehicle-mounted terminal 10, and if the query fails, queries the corresponding grid area in the first compensation value table, and obtains a corresponding altitude compensation calibration value;
s404, if the control module fails to successfully obtain the corresponding altitude compensation calibration value from the second compensation numerical table or the first compensation numerical table, the altitude compensation calibration value is set as the last effective altitude compensation calibration value inside the vehicle-mounted terminal 10.
S405, the control module 104 calculates an altitude under the calibration condition according to the obtained altitude compensation calibration value and the atmospheric altitude value, and sends the altitude under the calibration condition to the GNSS module 102.
On the other hand, referring to fig. 5, an in-vehicle system includes the plurality of in-vehicle terminals 10; further comprising a remote server 20 connected to each of the in-vehicle terminals 10; the remote server 20 is configured to receive compensation relationship data of each grid area uploaded by different vehicle-mounted terminals 10 at different times, perform fusion processing on the combined grid area data to obtain an altitude compensation standard value set of an atmospheric altitude value and a satellite positioning altitude value in the same grid area under different altitude intervals and different time periods, and obtain second compensation value tables of different grid areas through continuous updating; the remote server 20 is further configured to send the second compensation value table to each in-vehicle terminal 10.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using this concept shall fall within the scope of the present invention.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (10)
1. An on-board terminal for assisting positioning of a GNSS module, comprising:
the atmospheric pressure measurement module is used for acquiring an atmospheric pressure value and converting the atmospheric pressure value into a corresponding atmospheric pressure altitude value;
the GNSS module is used for acquiring position information and converting the position information into corresponding longitude and latitude information and a satellite positioning altitude value;
the communication module is used for acquiring the cell identification code of the current communication base station and is also used for carrying out wireless communication with the remote server;
the control module is used for judging the satellite signal intensity received by the GNSS module, and when the satellite signal intensity is high, performing altitude compensation calibration based on the atmospheric altitude value, the satellite positioning altitude value and the cell identification code to update the first compensation numerical value table; otherwise, acquiring an altitude compensation calibration value from the compensation numerical value table based on the atmospheric altitude numerical value and the cell identification code to perform altitude compensation;
the storage module is used for storing a compensation value table; the compensation numerical value table comprises a first compensation numerical value table and a second compensation numerical value table acquired from a remote server; altitude compensation calibration values corresponding to the atmospheric altitude value and the cell identification code are stored in the first compensation value table and the second compensation value table.
2. The vehicle-mounted terminal for assisted GNSS module positioning of claim 1, wherein the control module determines that the satellite signal is strong when the number of available satellites is greater than or equal to a predetermined number, the SNR of each satellite is greater than a first predetermined value, and the position accuracy factor value and the vertical accuracy factor value are both less than a second predetermined value.
3. The vehicle-mounted terminal for assisted GNSS module positioning according to claim 1, wherein the altitude compensation calibration is performed based on the atmospheric altitude value, the satellite positioning altitude value and the cell identification code to update the first compensation value table, specifically comprising:
acquiring longitude and latitude information and a satellite positioning altitude numerical value output by the GNSS module in real time; collecting the atmospheric pressure altitude value output by the atmospheric pressure measurement module in real time; acquiring a cell identification code of the communication base station output by the communication module in real time;
if the cell identification code is successfully acquired, calibrating and compensating the atmospheric pressure altitude numerical value based on the satellite positioning altitude numerical value, obtaining the atmospheric pressure altitude numerical value and the altitude compensation calibration numerical value of the satellite positioning altitude numerical value under the grid area corresponding to the current cell identification code, establishing the compensation relation of the atmospheric pressure altitude numerical value and the satellite positioning altitude numerical value under the current cell identification code grid area, and updating a first compensation numerical value table in the storage module.
4. The vehicle-mounted terminal for assisted GNSS module positioning according to claim 3, wherein if the cell ID is failed to be collected, the grid area is customized by taking the current location point as the center and the preset distance as the radius, and a unique customized ID is set, the altitude compensation calibration value of the atmospheric altitude value and the satellite positioning altitude value under the grid area corresponding to the current customized ID is obtained, the compensation relationship of the atmospheric altitude value and the satellite positioning altitude value under the grid area of the current customized ID is established, and the first compensation value table in the storage module is updated.
5. The GNSS module location assisted in-vehicle terminal of claim 3, wherein after updating the first table of compensation values, further comprising: if the vehicle-mounted terminal is currently located in a network area with communication signals, the compensation relation data under the current grid area of the vehicle-mounted terminal is uploaded to a remote server end through a communication module; the compensation relation data comprise a current grid area type, a cell identification code, a user-defined identification code, longitude and latitude, an atmospheric pressure altitude value, a satellite positioning altitude value and an altitude compensation calibration value.
6. The GNSS module location assisted vehicle terminal of claim 5, wherein the control module is further configured to obtain a second compensation value table stored by a remote server; the remote server receives compensation relation data of each grid area uploaded by different vehicle-mounted terminals at different moments, fusion processing is carried out on the combined grid area data, altitude compensation standard value groups of atmospheric pressure altitude values and satellite positioning altitude values under the same grid area and different altitude intervals and different time periods are obtained, and second compensation table value groups of different grid areas are obtained through continuous updating.
7. The GNSS module location assisted vehicle terminal of claim 5, wherein the acquiring the second compensation value table stored in the remote server specifically comprises:
the remote server periodically sends the second compensation numerical table to a control module of the vehicle-mounted terminal through a wireless communication network;
or;
when the control module detects that the cell identification code changes, judging whether a second compensation numerical table exists in the storage module, and if the second compensation numerical table does not exist locally, requesting a remote server to download the second compensation numerical table through a wireless communication network; if the second compensation numerical value table locally exists, judging whether the cell identification code obtained currently has a corresponding grid area, and if not, requesting a remote server to download and update the second compensation numerical value table through a wireless communication network;
and when the control module does not acquire the cell identification code, traversing all the user-defined grid areas, judging whether the last effective position of the vehicle-mounted terminal is in the user-defined grid area, and if the last effective position of the vehicle-mounted terminal is not in the user-defined grid area, requesting a remote server to download and update the second compensation value table when the wireless communication network is recovered.
8. The vehicle-mounted terminal for assisted GNSS module positioning according to claim 1, wherein an altitude compensation calibration value is obtained from a compensation value table based on an atmospheric altitude value and a cell identification code for altitude compensation, and specifically includes:
acquiring an atmospheric pressure altitude value calculated by the atmospheric pressure measurement module according to the atmospheric pressure value;
detecting a current cell identification code output by the communication module, inquiring a corresponding grid area in a second compensation numerical value table through the cell identification code by the control module if a valid cell identification code is detected, inquiring the corresponding grid area in a first compensation numerical value table if the inquiry is failed, and acquiring a corresponding altitude compensation calibration numerical value;
step six, if the communication module does not detect an effective cell identification code, the control module searches the corresponding grid area in the second compensation numerical value table in a traversing mode according to the latest effective longitude and latitude of the vehicle-mounted terminal, and if the search fails, the control module searches the corresponding grid area in the first compensation numerical value table and obtains a corresponding altitude compensation calibration value;
and step eight, the control module calculates the altitude under the calibration condition according to the acquired altitude compensation calibration value and the atmospheric pressure altitude value, and sends the altitude under the calibration condition to the GNSS module.
9. The vehicle-mounted terminal for assisted GNSS module positioning according to claim 8, wherein if the altitude compensation calibration value is not obtained in both the fourth step and the sixth step, the method further comprises, after the sixth step:
and setting the altitude compensation calibration value as the last effective altitude compensation calibration value in the vehicle-mounted terminal.
10. An in-vehicle system characterized by comprising a plurality of in-vehicle terminals according to any one of claims 1 to 9; the system also comprises a remote server which is respectively connected with each vehicle-mounted terminal; the remote server is used for receiving compensation relation data of each grid area uploaded by different vehicle-mounted terminals at different moments, carrying out fusion processing on the combined grid area data to obtain altitude compensation standard value groups of atmospheric pressure altitude values and satellite positioning altitude values under the same grid area and different altitude intervals and different time periods, and continuously updating to obtain second compensation value tables of different grid areas; and the remote server is also used for sending the second compensation numerical value table to each vehicle-mounted terminal.
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| CN202111171141.6A CN115963524A (en) | 2021-10-08 | 2021-10-08 | Vehicle-mounted terminal and vehicle-mounted system for assisting positioning of GNSS module |
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| CN202111171141.6A CN115963524A (en) | 2021-10-08 | 2021-10-08 | Vehicle-mounted terminal and vehicle-mounted system for assisting positioning of GNSS module |
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