CN117434565A

CN117434565A - Fusion positioning method and device based on multiple receiving antennas

Info

Publication number: CN117434565A
Application number: CN202311199702.2A
Authority: CN
Inventors: 马涛; 赵雪江; 刘羿; 何贝
Original assignee: Beijing Sinian Zhijia Technology Co ltd
Current assignee: Beijing Sinian Zhijia Technology Co ltd
Priority date: 2023-09-18
Filing date: 2023-09-18
Publication date: 2024-01-23

Abstract

The application provides a fusion positioning method, a device, electronic equipment and a machine-readable storage medium based on multiple receiving antennas, wherein the method comprises the following steps: screening a plurality of satellite signals received by a plurality of receiving antennas based on carrier-to-noise ratios of the plurality of satellite signals to determine a target satellite signal; transmitting the target satellite signal to a receiving channel, and determining an effective receiving channel; judging whether the number of the effective receiving channels is larger than a preset threshold value or not; if the number of the effective receiving channels is larger than the preset threshold, determining a preliminary estimated position of the receiver based on the target satellite signal; correcting the pseudo range of the target satellite signal based on the preliminary estimated positions and the deviation between the positions of the plurality of receiving antennas and the reference position; and determining the target positioning position of the receiver based on the correction result.

Description

Fusion positioning method and device based on multiple receiving antennas

Technical Field

The present disclosure relates to the field of satellite positioning technologies, and in particular, to a fusion positioning method and apparatus based on multiple receiving antennas, an electronic device, and a machine-readable storage medium.

Background

Satellite positioning is a technique widely used in the fields of navigation, positioning and measurement, and performs position calculation by using satellite signals transmitted by a satellite system. Satellite positioning technology has wide application in the fields of navigation, vehicle tracking, geographic information systems, aerospace and the like. In the field of satellite positioning, well-known global positioning systems include: global positioning system (Global Positioning System, GPS), galileo satellite navigation system (Galileo), beidou navigation system (BeiDou Navigation Satellite System).

GPS is a set of satellite navigation systems developed by the United states department of defense, consisting of a set of satellites orbiting the earth, ground control stations, and user receivers. By receiving satellite signals transmitted by a plurality of satellites, the GPS receiver can measure the distance between the satellites and the receiver and calculate the position of the receiver by using the principle of triangulation.

Galileo satellite navigation system is a set of satellite navigation systems developed jointly by the European Space Agency (ESA) and the european union. It also consists of a set of satellites orbiting the earth, a ground control station, and a user receiver. The design goal of the galileo system is to provide greater accuracy and reliability and to increase the independence of the system.

In the satellite positioning field, key technologies include satellite signal receiving and processing, position calculation algorithm, clock synchronization, error correction and the like. The receiver measures the arrival time difference of satellite signals by receiving satellite signals transmitted by a plurality of satellites, and calculates the distance between the satellites and the receiver through a distance formula. The position of the receiver is then calculated using triangulation or other positioning algorithms using the observations of the satellites. In order to improve the positioning accuracy, errors such as satellite clock error, atmospheric delay, multipath effect and the like need to be considered and corresponding correction is carried out. In addition, clock synchronization is required to ensure that the clock of the receiver remains synchronized with the clock of the satellite to accurately calculate the satellite signal propagation time.

However, in certain situations, satellite positioning may fail, for example when the antenna of the receiver is obscured by an obstacle, it is often difficult to accomplish satellite positioning.

Therefore, how to ensure the effectiveness of the satellite positioning technology and to improve the accuracy of positioning is a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The application provides a fusion positioning method based on multiple receiving antennas, which comprises the following steps:

screening a plurality of satellite signals received by a plurality of receiving antennas based on carrier-to-noise ratios of the plurality of satellite signals to determine a target satellite signal;

transmitting the target satellite signal to a receiving channel, and determining an effective receiving channel;

judging whether the number of the effective receiving channels is larger than a preset threshold value or not;

if the number of the effective receiving channels is larger than the preset threshold, determining a preliminary estimated position of the receiver based on the target satellite signal;

correcting the pseudo range of the target satellite signal based on the preliminary estimated positions and the deviation between the positions of the plurality of receiving antennas and the reference position;

and determining the target positioning position of the receiver based on the correction result.

Optionally, the screening the plurality of satellite signals to determine the target satellite signal based on carrier-to-noise ratios of the plurality of satellite signals received by the plurality of receiving antennas includes:

for each receiving antenna, sequencing satellite signals received by the receiving antenna from large to small according to the carrier-to-noise ratio, and determining the first n satellite signals as the target satellite signals based on sequencing results;

if different receiving antennas receive the same satellite signals, comparing the carrier-to-noise ratios corresponding to the same satellite signals, and taking the satellite signal with the largest carrier-to-noise ratio as a target satellite signal.

Optionally, the reference position includes:

the center position of the plurality of receiving antennas, the position of any receiving antenna of the plurality of receiving antennas and/or the position of the receiver.

Optionally, the correcting the pseudo range of the target satellite signal based on the preliminary estimated positions and the deviations between the positions of the plurality of receiving antennas and the reference positions includes:

for each receiving antenna, calculating a three-dimensional distance between the position of the receiving antenna and a reference position, wherein the three-dimensional distance comprises a forward distance, a lateral distance and a vertical distance;

converting the three-dimensional distance to a geodetic coordinate system;

and correcting the pseudo range of the target satellite signal based on the preliminary estimated position of the receiver and the three-dimensional distance under the geodetic coordinate system corresponding to each receiving antenna to determine a correction result.

Optionally, the correction result includes an unknown quantity to be solved, and the unknown quantity to be solved includes an included angle between a forward direction and a north direction of the receiver.

Optionally, the determining the target positioning position of the receiver based on the correction result includes:

adding the unknown quantity to be solved to a coefficient matrix of a least square method;

and carrying out solving calculation based on the coefficient matrix of the least square method, and determining the target positioning position of the receiver.

Optionally, the method further comprises:

judging whether the target positioning position meets the precision requirement or not;

and if not, carrying out at least one iterative calculation until the positioning result meets the precision requirement.

The application provides a fusion positioning device based on multiple receiving antennas, the device includes:

the signal screening module is used for screening the plurality of satellite signals based on the carrier-to-noise ratios of the plurality of satellite signals received by the plurality of receiving antennas so as to determine target satellite signals;

the channel determining module is used for transmitting the target satellite signals to a receiving channel and determining an effective receiving channel;

the quantity judging module is used for judging whether the quantity of the effective receiving channels is larger than a preset threshold value or not; if the number of the effective receiving channels is larger than the preset threshold, determining a preliminary estimated position of the receiver based on the target satellite signal;

and the position calculation module is used for correcting the pseudo range of the target satellite signal based on the preliminary estimated positions and the deviation between the positions of the plurality of receiving antennas and the reference position, and determining the target positioning position of the receiver based on the correction result.

The application also provides an electronic device comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor implements the steps of the above method by executing the executable instructions.

The present application also provides a machine-readable storage medium having stored thereon computer instructions which when executed by a processor perform the steps of the above-described method.

The satellite signal receiving method and the satellite signal receiving device can receive satellite signals sent by a plurality of satellites in different areas through a plurality of receiving antennas, calculate the position of the receiver, can overcome the problems of signal interference, multipath effect, atmospheric influence and the like, and provide a positioning scheme which is more accurate, reliable and strong in adaptability.

Drawings

FIG. 1 is a flow chart illustrating a multiple receive antenna based fused positioning method in accordance with an exemplary embodiment;

FIG. 2 is a block diagram of a multiple receive antenna based fused positioning device shown in an exemplary embodiment;

fig. 3 is a hardware configuration diagram of an electronic device where a fusion positioning device based on multiple receiving antennas is shown in an exemplary embodiment.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present application as detailed in the accompanying claims.

It should be noted that: in other embodiments, the steps of the corresponding method are not necessarily performed in the order shown and described in this specification. In some other embodiments, the method may include more or fewer steps than described in this specification. Furthermore, individual steps described in this specification, in other embodiments, may be described as being split into multiple steps; while various steps described in this specification may be combined into a single step in other embodiments.

In order to make the technical solution in the embodiments of the present specification better understood by those skilled in the art, the related art related to the embodiments of the present specification will be briefly described below.

Satellite positioning technology: satellite positioning technology is a technology that utilizes a satellite system to perform accurate positioning and navigation. Based on the receiving and processing of satellite signals, the accurate position information of the receiver is calculated by measuring the distance or relative position relation between the satellite and the receiver.

The most common satellite positioning technology at present is the global positioning system (Global Positioning System, GPS), which consists of a set of satellites in space. The GPS system receives satellite signals transmitted from satellites by a receiver, and calculates a distance between the satellites and the receiver by measuring a time difference of propagation of the satellite signals. By simultaneously receiving satellite signals of a plurality of satellites, the position coordinates of the receiver can be calculated by using the principle of triangulation. In addition to GPS, there are other satellite positioning systems such as Galileo (Galileo), GLONASS (Global Navigation Satellite System), beidou navigation (BeiDou Navigation Satellite System), etc. These systems all use the satellite's position information and satellite signal propagation time differences to implement positioning and navigation functions.

Satellite positioning technology has wide application in many fields including aerospace, automotive navigation, marine navigation, military applications, geodetic, resource exploration, and the like. The method provides accurate position information for people, so that positioning and navigation become more convenient and reliable.

Pseudo-range measurement techniques: the pseudo-range measurement technique is a measurement method commonly used in satellite positioning systems for calculating the distance between a satellite and a receiver. The technique derives pseudorange observations based on time differences in satellite signal propagation.

In the pseudo-range measurement technique, after a receiver receives satellite signals transmitted from a plurality of satellites, the satellite signal propagation time between the satellite and the receiver is calculated by measuring the propagation time difference of the satellite signals. This time difference may be obtained by comparing the receiver internal clock with the navigation data of the satellite signal.

From the propagation time difference and the speed of light of the satellite signals, a pseudorange observation between the satellite and the receiver can be calculated. The pseudorange observations represent the satellite signal propagation time difference multiplied by the speed of light, i.e., the distance between the satellite and the receiver. However, due to factors such as satellite clock error, receiver clock error, atmospheric delay, multipath effects, etc., the pseudorange observations may be subject to certain errors.

To improve the accuracy of the pseudorange measurements, a series of error corrections are required. These correction factors include satellite clock correction, receiver clock correction, atmospheric delay correction, multipath effect correction, etc. By correcting the pseudorange observations, errors can be reduced and positioning accuracy improved.

Finally, the position coordinates of the receiver can be calculated by using the pseudorange observations of the plurality of satellites, the satellite position information and the receiver position information in combination with a positioning algorithm (such as triangulation). The accuracy of the pseudo-range measurement technique is generally low, about 10 meters, but still has certain practicability in some application scenarios.

Iterative least squares algorithm (Iterative Closest Point, abbreviated ICP): a registration method based on iterative closest point matching is widely applied to the fields of laser radar point cloud matching, 3D model matching and the like.

Satellite state parameters: satellite state parameters refer to a set of parameters that describe the operating state and performance characteristics of the satellite. These parameters are used to describe critical information about the satellite's position, velocity, clock bias, frequency drift, etc., to ensure that the satellite system is able to provide accurate positioning and navigation services. Common satellite state parameters are as follows:

satellite position: the position parameters of satellites represent three-dimensional coordinates of the satellites in space, typically using a geocentric or geodetic coordinate system. It is used to calculate the distance between the satellite and the receiver.

Satellite speed: the satellite velocity parameter represents the velocity of the satellite in space, including velocity components in three directions. It affects the doppler effect of satellite signals and is used to predict the position and orbit of satellites.

Clock difference: clock difference refers to the time difference between an atomic clock inside the satellite and a reference clock on the ground. Because the accuracy of the satellite clock has a certain deviation, the clock error needs to be corrected to ensure the accuracy of the satellite signal.

Frequency bleaching: frequency drift refers to the frequency offset of a satellite signal, i.e., the difference between the frequency of the satellite signal and the frequency of the receiver clock. The frequency drift affects the transmission rate and positioning accuracy of satellite signals and needs to be corrected.

These satellite state parameters are obtained by measurements and calculations inside the satellite system. The satellite positioning system can continuously monitor and update the state parameters of the satellite so as to ensure the accuracy and the reliability of the system. The receiver finally determines the position and navigation information of the receiver by acquiring satellite state parameters and processing and calculating the satellite state parameters and the received satellite signals. In satellite positioning systems, accurate satellite state parameters are critical to providing accurate positioning and navigation services. Therefore, monitoring, calibration and updating of satellite state parameters are important links in the operation and maintenance of satellite positioning systems.

Application scenario overview

In the field of satellite positioning, which is a technique widely used in the fields of navigation, positioning and measurement, is often used for positioning, and position calculation is performed by using satellite signals transmitted by a satellite system.

In a conventional satellite positioning system, the position (X, Y, Z) of a reference position can be solved by receiving satellite signals transmitted from satellites and measuring the distance from the satellites to a receiver, and establishing an equation using a distance formula in three-dimensional coordinates. However, there are actually 4 unknowns, including the position and clock bias of the receiver, due to some error in the satellite's clock and the receiver clock.

To solve this problem, the 4 th satellite needs to be introduced to form the 4 th equation for solving. By using the transmitted satellite signals of four satellites, the position coordinates (longitude, latitude, altitude) and clock bias of the receiver can be calculated simultaneously, thereby determining the accurate position of the reference position.

Inventive concept

As described above, the receiver needs to receive satellite signals transmitted by 4 satellites to calculate the accurate position of the reference position, but in some scenarios, a single receiving antenna cannot receive satellite signals transmitted by 4 or more satellites, and thus cannot perform satellite positioning. It should be emphasized that in practical applications, even if the receiver includes a plurality of receiving antennas, the sum of the number of satellite signals received by the plurality of receiving antennas is greater than 4, but if a single receiving antenna cannot receive 4 or more satellite signals, satellite positioning cannot be completed.

In view of this, the present description aims to propose a fusion positioning scheme based on multiple receive antennas.

The core concept of the specification is as follows:

positioning is achieved by receiving a plurality of satellite signals using a plurality of receiving antennas. Firstly, the carrier-to-noise ratios of different satellite signals are compared, and signals with higher quality are screened out to determine the target satellite signals. The target satellite signal is then transmitted to a plurality of receive channels, and the number of receive channels available is determined by processing the signals of the plurality of channels. And if the number of the effective channels meets a preset threshold, performing preliminary position estimation by using the target satellite signals. Then, the pseudo range of the target satellite signal is corrected by combining the deviations of the positions of the plurality of receiving antennas from the reference positions. Finally, the target positioning position of the receiver is calculated based on the corrected pseudo-range data.

According to the scheme, when a single receiving antenna cannot acquire enough satellite signals to perform satellite positioning, satellite signals received by other receiving antennas can be acquired and used for calculating the target positioning position of the receiver so as to cope with factors such as multipath interference, signal quality difference and atmospheric influence, and therefore a more accurate and reliable positioning effect is achieved.

The following describes the present application through specific embodiments and in connection with specific application scenarios.

Referring to fig. 1, fig. 1 is a flowchart illustrating a method for positioning based on multiple receiving antennas in a fusion manner, wherein the method performs the following steps:

step 102: the plurality of satellite signals received by the plurality of receiving antennas are screened to determine a target satellite signal based on carrier-to-noise ratios of the plurality of satellite signals.

Step 104: and transmitting the target satellite signal to a receiving channel, and determining an effective receiving channel.

Step 106: and judging whether the number of the effective receiving channels is larger than a preset threshold value.

Step 108: and if the number of the effective receiving channels is larger than the preset threshold value, determining the preliminary estimated position of the receiver based on the target satellite signals.

Step 110: and correcting the pseudo range of the target satellite signal based on the preliminary estimated positions and the deviation between the positions of the plurality of receiving antennas and the reference position.

Step 112: and determining the target positioning position of the receiver based on the correction result.

The present application uses a pseudo-range measurement technique, which is a common measurement method for satellite positioning and navigation, where distance information is derived mainly by measuring the signal propagation time difference between the receiver and the satellite. In satellite navigation systems, satellites transmit signals with navigation information, which are received and demodulated by a receiver, and the distance between the receiver and the satellite is calculated by measuring the propagation time difference of the signals.

The pseudo-range measurement technique includes the steps of: the method comprises the steps that a receiver receives signals of satellite signals carried by a plurality of satellites, a pseudo-range observation value between each satellite and the receiver is calculated by measuring propagation time difference (namely arrival time difference) of the signals from the satellites to the receiver, a series of corrections are carried out on the pseudo-range observation value, including satellite clock correction, receiver clock correction, atmospheric delay correction, multipath effect correction and the like, so that errors are reduced, measurement accuracy is improved, the position coordinates of the receiver are calculated by utilizing the pseudo-range observation value, satellite position information and receiver position information through triangulation or other positioning algorithms, pseudo-range measurement and positioning calculation are continuously carried out according to new satellite signals received in real time, dynamic position update and iteration are realized, and positioning accuracy and stability are improved.

The present application utilizes multiple receive antennas to receive multiple satellite signals to achieve positioning. Firstly, the carrier-to-noise ratios of different satellite signals are compared, and signals with higher quality are screened out to determine the target satellite signals. The target satellite signal is then transmitted to a plurality of receive channels, and the number of receive channels available is determined by processing the signals of the plurality of channels. And if the number of the effective channels meets a preset threshold, performing preliminary position estimation by using the target satellite signals. Then, the pseudo range of the target satellite signal is corrected by combining the deviations of the positions of the plurality of receiving antennas from the reference positions. Finally, the target positioning position of the receiver is calculated based on the corrected pseudo-range data.

Multiple receive antennas may simultaneously receive satellite signals from multiple satellites. These satellite signals are often affected by noise during the propagation process, so that the carrier-to-noise ratio index can be used as a satellite signal quality measure, and the received signal is screened according to the carrier-to-noise ratio of the satellite signal, so that the target satellite signal, i.e. the strongest or most reliable signal, can be determined from the received signal.

After the target satellite signal is determined, it may be transmitted to a receive channel. In this step, one or more of the channels may be selected for signal processing. These channels may have different characteristics, such as different antenna configurations or signal processing algorithms.

Next, it may be determined whether the number of selected valid reception channels reaches a preset threshold. This step can be used to ensure reliability of the positioning, since more accurate position information can be calculated using more satellite signals transmitted over the active reception channel.

If the number of active channels meets a preset threshold, a preliminary position estimate may be made based on the target satellite signals. This may use methods such as triangulation to estimate the approximate location of the receiver from information such as the time difference, angle, etc. of the signals received by the different antennas.

The pseudorange (the difference between the time required to receive the signal and the time the satellite transmits the signal) needs to be corrected because the signal is affected by factors such as the atmosphere during propagation. The correction may incorporate a preliminary estimate of the position of the receiver and a deviation between the position of the antenna and a reference position. Based on the corrected pseudo-range and other information, the target positioning position of the receiver can be calculated.

In one embodiment shown, for each receive antenna, satellite signals received by the receive antenna may be ranked from a large to a small carrier-to-noise ratio, and the first n satellite signals may be determined as the target satellite signals based on the ranking result;

In one embodiment shown, the reference position may include a center position of a plurality of receive antennas, a position of any of the plurality of receive antennas, and/or a position of the receiver.

Taking three receiving antennas A, B, C as an example, the reference position may be the center of the receiving antenna A, B, C, or the geometric center of the distribution of the positions of the three receiving antennas, or the position of the receiving host; the geometric center of any two receiving antennas and the geometric center of the other receiving antenna can be adopted; for example, the geometric center of receive antenna A, B and the geometric center of receive antenna C, and so on.

In order to obtain the geometrical relationship between the receiver and the plurality of antennas, three-dimensional distances, which refers to the actual physical distance from the receiver to the satellites expressed as straight-line distances in a three-dimensional coordinate system, may be measured. It is calculated by measuring the propagation time and velocity of the satellite signal, taking into account the real distance information, typically in meters. The three-dimensional distance is a measurement based on physical principles and can be used to calculate the geometrical relationship between the receiver and the satellite.

In one embodiment shown, for each receive antenna, a three-dimensional distance between the position of the receive antenna and a reference position may be calculated, the three-dimensional distance including a forward distance, a lateral distance, and a vertical distance; the three-dimensional distance may be converted to a geodetic coordinate system; the pseudoranges of the target satellite signals may be corrected based on the preliminary estimated position of the receiver and the three-dimensional distances in the geodetic coordinate system corresponding to each receive antenna to determine correction results.

After the three-dimensional distance is converted into the geodetic coordinate system, the positioning points can be described by using geographic coordinates such as longitude, latitude, elevation and the like, so that the visual understanding of people on the positions is better met. The geodetic coordinate system is a coordinate system based on the shape of the earth's surface and is suitable for the representation and navigation of locations on the earth. After the position of the receiver is calculated, a correction result can be determined based on the preliminary estimated position of the receiver and the three-dimensional distance in the geodetic coordinate system corresponding to each receiving antenna, and a more accurate target positioning position can be obtained based on the correction result.

In one embodiment shown, the correction result may include an unknown to be solved including an angle of the receiver forward direction to north.

In one embodiment shown, the unknown quantity to be solved may be added to a coefficient matrix of a least squares method; and carrying out solving calculation based on the coefficient matrix of the least square method, and determining the target positioning position of the receiver.

The three-dimensional distance measured in the geodetic coordinate system may be converted to a geodetic fixed coordinate system based on the receiver position calculated using the least squares method. This transformation takes into account the curvature of the earth and the ellipsoidal shape, making the distance measurement more accurate and precise. The pseudoranges for each receive channel may be corrected by three-dimensional distances in a geocentric fixed coordinate system. The corrected pseudo-range can more accurately represent the propagation time of satellite signals, and the pseudo-range measurement error caused by the position error of the receiver is eliminated. Based on the corrected pseudo-range, a second angle between the forward direction and the north direction of the receiver in the geodetic coordinate system can be calculated. To further optimize the calculation of the receiver position, this second angle is added to the coefficient matrix of the least squares method. The receiver position adjustment can be considered by the least squares optimization calculation to maximize the fit of the corrected pseudorange data. This may result in more accurate and reliable receiver position results. The purpose of this step is to make comprehensive use of the pseudorange correction and the angle information, and to improve the accuracy and stability of the receiver position calculation. By making corrections and optimizations in the geocentric fixed coordinate system, the position of the receiver can be more accurately determined and reliable results provided for subsequent navigation and positioning applications.

In one embodiment shown, it may be determined whether the target positioning location meets accuracy requirements; if not, at least one iterative calculation can be performed until the positioning result meets the precision requirement.

For example, the steps of the multi-receive antenna based fusion positioning method including position information optimization may be as follows: first, a reference position is selected as an output point of the positioning result. This reference position may be arbitrarily chosen, for example the center of a certain receiving antenna, the geometrical center of the distribution of the positions of the receiving antennas or the position of the host unit.

Next, the three-dimensional distances of the respective antennas to the reference position in the forward, lateral, and vertical directions are measured. The measurement of these distances may provide positional information of the different antennas relative to the reference position.

The carrier is introduced at an angle ψ between the forward and north directions. By introducing the included angle, the three-dimensional distance obtained through measurement can be converted into the geodetic coordinate system for representation, so that the coordinate system can be unified, and subsequent calculation and processing are convenient.

And calculating the position, speed, clock difference, frequency drift and other parameters of each satellite according to the observed satellite sequence. If the same satellite exists, an antenna receiving channel with higher noise loading is preferentially selected, and the number of a receiving antenna from which the satellite signal comes is recorded. In this way, satellite signals for each satellite can be established.

When the number of valid signal channels is confirmed to be greater than 5, the respective channel signals may be ignored from the receiving antennas at different positions. And (3) performing primary receiver position calculation by using a least square method to obtain a preliminary estimated position of the receiver. In this way, the position estimation can be performed through the observation data of a plurality of satellites, and the positioning accuracy and reliability are improved.

And converting the expression with the unknown parameters psi into a three-dimensional distance in a geocentric and geodetic fixed coordinate system to be represented according to the obtained preliminary estimated position of the receiver. The transformation takes into account the ellipsoidal shape of the earth, making the calculation of the distance more accurate.

And correcting the pseudo range of each channel satellite signal by using the calculated result. Meanwhile, the parameter psi is added as the quantity to be solved, and is added into a coefficient matrix of the least square method. And (3) re-calculating the position of the receiver by a least square method, and further optimizing the precision and accuracy of the position.

And finally, judging the residual error of the calculation result. If the requirements are met, i.e. a predetermined accuracy criterion is fulfilled, the positioning calculation ends. Otherwise, iterative computation can be performed until a positioning result meeting the precision requirement is obtained.

Referring to fig. 2, fig. 2 is a block diagram of a multiple receive antenna based fused positioning device according to an exemplary embodiment, the device comprising:

a signal screening module 210, configured to transmit the target satellite signal to a receiving channel, and determine an effective receiving channel;

a channel determining module 220, configured to transmit the target satellite signal to a receiving channel, and determine an effective receiving channel;

a number judging module 230, configured to judge whether the number of the valid receiving channels is greater than a preset threshold; if the number of the effective receiving channels is larger than the preset threshold, determining a preliminary estimated position of the receiver based on the target satellite signal;

the location calculation module 240 is configured to correct the pseudo range of the target satellite signal based on the preliminary estimated locations and the deviations between the locations of the plurality of receiving antennas and the reference locations, and determine the target positioning location of the receiver based on the correction result.

Referring to fig. 3, fig. 3 is a hardware configuration diagram of an electronic device where a multi-receiving antenna based fusion positioning device is shown in an exemplary embodiment. At the hardware level, the device includes a processor 302, an internal bus 304, a network interface 306, memory 308, and non-volatile storage 310, although other hardware required for the service is possible. One or more embodiments of the present description may be implemented in a software-based manner, such as by the processor 302 reading a corresponding computer program from the non-volatile storage 310 into the memory 308 and then running. Of course, in addition to software implementation, one or more embodiments of the present disclosure do not exclude other implementation manners, such as a logic device or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic unit, but may also be hardware or a logic device.

For the device embodiments, reference is made to the description of the method embodiments for the relevant points, since they essentially correspond to the method embodiments. The apparatus embodiments described above are illustrative only, in that the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purposes of the present description. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

The system, apparatus, module or unit set forth in the above embodiments may be implemented in particular by a computer chip or entity, or by a product having a certain function. A typical implementation device is a computer, which may be in the form of a personal computer, laptop computer, cellular telephone, camera phone, smart phone, personal digital assistant, media player, navigation device, email device, game console, tablet computer, wearable device, or a combination of any of these devices.

In a typical configuration, a computer includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, read only compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic disk storage, quantum memory, graphene-based storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by the computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing describes specific embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

The terminology used in the one or more embodiments of the specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the specification. As used in this specification, one or more embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in one or more embodiments of the present description to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of one or more embodiments of the present description. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context.

The foregoing description of the preferred embodiment(s) is (are) merely intended to illustrate the embodiment(s) of the present invention, and it is not intended to limit the embodiment(s) of the present invention to the particular embodiment(s) described.

Claims

1. A fusion positioning method based on multiple receiving antennas, the method comprising:

2. The method of claim 1, wherein the screening the plurality of satellite signals to determine the target satellite signal based on carrier-to-noise ratios of the plurality of satellite signals received by the plurality of receive antennas comprises:

3. The method of claim 1, wherein the reference position comprises:

4. The method of claim 1, wherein correcting the pseudoranges for the target satellite signals based on the preliminary estimated position and a deviation between the positions of the plurality of receive antennas and a reference position comprises:

converting the three-dimensional distance to a geodetic coordinate system;

5. The method of claim 4, wherein the correction result comprises an unknown quantity to be solved, the unknown quantity to be solved comprising an angle between a forward direction and a north direction of the receiver.

6. The method of claim 5, wherein determining the target positioning location of the receiver based on the correction result comprises:

7. The method according to claim 1, wherein the method further comprises:

8. A multiple receive antenna based fusion positioning device, the device comprising:

9. A machine readable storage medium having stored thereon computer instructions which when executed by a processor implement the steps of the method of any of claims 1-7.

10. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to implement the steps of the method of any of claims 1-7 by executing the executable instructions.