WO2017206037A1 - Positioning method and apparatus - Google Patents

Positioning method and apparatus Download PDF

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Publication number
WO2017206037A1
WO2017206037A1 PCT/CN2016/083988 CN2016083988W WO2017206037A1 WO 2017206037 A1 WO2017206037 A1 WO 2017206037A1 CN 2016083988 W CN2016083988 W CN 2016083988W WO 2017206037 A1 WO2017206037 A1 WO 2017206037A1
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WO
WIPO (PCT)
Prior art keywords
terminal
location
measurement
satellite
positioning
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PCT/CN2016/083988
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French (fr)
Chinese (zh)
Inventor
窦凤辉
何岳
金辉
欧阳国威
陆晨曦
Original Assignee
华为技术有限公司
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Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to PCT/CN2016/083988 priority Critical patent/WO2017206037A1/en
Publication of WO2017206037A1 publication Critical patent/WO2017206037A1/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40Correcting position, velocity or attitude
    • G01S19/41Differential correction, e.g. DGPS [differential GPS]

Abstract

Embodiments of the present invention provide a positioning method and apparatus. The method comprises: a terminal device obtaining correction information of at least one reference device, wherein the correction information of each reference device comprises a correction parameter used by the terminal device to correct a measuring location of the terminal device and an application scope of the correction parameter; wherein the correction parameter is a parameter for changing a measuring location of the reference device to be a positioning location of the reference device; and the terminal device determining a positioning location of the terminal device according to the correction information of the at least one reference device and the measuring location of the terminal device. The positioning method and apparatus provided by the embodiments of the present invention can improve positioning accuracy of a terminal device installed in a vehicle.

Description

Positioning method and device Technical field

Embodiments of the present invention relate to communication technologies, and in particular, to a positioning method and apparatus.

Background technique

The Internet of Vehicles is a network that enables wireless communication and information exchange between vehicles, between vehicles, between vehicles and between roadside units, and between vehicles and the Internet. The information mentioned above may be, for example, the position, speed, destination, and the like of the vehicle.

At present, the terminal device on the vehicle in the car network can locate the position of the vehicle through the satellite positioning system, and send it to the management device of the car network along with the destination of the vehicle, so that the management device of the car network can be based on the vehicle Location and destination, as well as the location of other vehicles, select the best travel route for the vehicle to improve user travel efficiency.

However, in the prior art, when the terminal device on the above vehicle locates the position of the vehicle through the satellite positioning system, the positioning accuracy is low, and the actual use requirement cannot be met.

Summary of the invention

The embodiment of the invention provides a positioning method and device for solving the technical problem that the positioning accuracy of the terminal device on the vehicle in the prior art is low when positioning the vehicle through the satellite positioning system.

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

The terminal device acquires correction information of the at least one reference device, and the correction information of each of the reference devices includes a correction parameter for the terminal device to correct the measurement position of the terminal device, and a use range of the correction parameter; The correction parameter is a parameter that corrects the measurement position of the reference device to the positioning position of the reference device;

The terminal device determines a positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device.

According to the positioning method provided by the first aspect, the terminal device on the vehicle can acquire the repair of at least one reference device in real time during the process of acquiring the measurement position of the terminal by the satellite positioning system. Positive information, so that the terminal device can correct its own measurement position with the correction information of the at least one reference device to determine its own positioning position, so that the positioning position is infinitely close to or equal to the actual location of the terminal device itself, thereby making the terminal The device can send its positioning position as the location of the vehicle to the management device of the vehicle network, so that the management device of the vehicle network can determine the lane where the vehicle is located according to the location of the vehicle, and thus can obtain the vehicle in the vehicle network in each lane. Queuing information can provide accurate road traffic information for vehicles in the Internet of Vehicles, and improve the effectiveness and accuracy of the traffic information provided by the vehicle management equipment to the vehicle.

Further, in a possible implementation manner of the first aspect, the correction information of each of the reference devices further includes a location of each of the reference devices; and the location of the reference device is a location of the reference device Or the measurement location of the reference device.

Optionally, in a possible implementation manner of the first aspect, the terminal device determines, according to the correction information of the at least one reference device and the measurement location of the terminal device, a location location of the terminal device, where include:

Determining, by the terminal device, at least one first reference device according to a usage range of the correction parameter of each of the reference devices, a location of each of the reference devices, and a measurement location of the terminal device; the terminal device is located in the The use range of the correction parameter of the first reference device;

The terminal device determines a positioning location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device.

According to the positioning method provided by the possible implementation, the terminal device may obtain from the at least one according to the used range of the modified parameter in the acquired correction information of the at least one reference device, the location of the reference device, and the measured position of the terminal device. The at least one first reference device in which the terminal device is located within the use range of the correction parameter is accurately selected in the reference device, so that the terminal device can correct the measurement position of the terminal device based on the correction parameter of the at least one first reference device. To determine its own location, so that the location is more infinitely close to or equal to the location of the terminal device itself, so that the terminal device can send its location as the location of the vehicle to the management device of the vehicle network, so that the vehicle network The management device can determine the lane in which the vehicle is located according to the location of the vehicle, and thus can obtain the queuing information of the vehicle in each lane of the vehicle network, thereby providing accurate road traffic information for the vehicle in the vehicle network, and improving the vehicle network. Management equipment provided to the vehicle The effectiveness and accuracy of traffic information.

Optionally, in a possible implementation manner of the first aspect, the terminal device is configured according to each Determining the at least one first reference device, where the reference device is used, the location of each of the reference devices, and the measurement location of the terminal device, specifically:

Determining, by the terminal device, a first distance between the terminal device and each of the reference devices according to a measurement location of the terminal device and a location of each of the reference devices;

Determining, by the terminal device, a first distance from the terminal device that is less than or equal to a first distance between the terminal device and each of the reference devices and a use range of a correction parameter of each of the reference devices The reference device of the use range of the correction parameter of the reference device is determined as the first reference device.

Further, in a possible implementation manner of the first aspect, the correction information of each of the reference devices further includes a satellite number corresponding to a satellite used by each of the reference devices to calculate a measurement position of the reference device .

Optionally, in a possible implementation manner of the first aspect, the terminal device determines, according to the correction information of the at least one first reference device and the measurement location of the terminal device, a location location of the terminal device, where include:

Determining, by the terminal device, the presence or absence of the terminal device in the at least one first reference device, according to the satellite number corresponding to the satellite used by the at least one first reference device to calculate the measurement location of the first reference device a second reference device having the same satellite number of the satellite used when calculating the measurement position of the terminal device;

If yes, the terminal device determines the location location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device.

Further, in a possible implementation manner of the first aspect, the second reference device is multiple;

Determining, by the terminal device, the positioning location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device, specifically:

Determining, by the terminal device, a third reference device that is closest to the terminal device in the second reference device according to the location of the second reference device and the measurement location of the terminal device;

The terminal device determines a positioning location of the terminal device according to the correction parameter of the third reference device and the measurement location of the terminal device.

Optionally, in a possible implementation manner of the first aspect, the positioning position of the third reference device includes: a longitude positioning position X3 of the third reference device, and a latitude positioning of the third reference device Y3 predetermined position, the height position of the third positioning device Z3 predetermined reference;

The third reference position measuring apparatus comprising: measuring the height measuring position X3 longitude third reference sensing device, the third reference latitude measuring device measuring the position Y3, the third reference position Z3 measuring device;

Then the correction parameter third device comprising: determining according to said predetermined ΔX3 = X3 -X3 correction parameter measured longitude third reference device ΔX3, determined according to the given -Y3 ΔY3 = Y3 third reference sensing device Lat correction parameter ΔY3, determined according to the predetermined ΔZ3 = Z3 -Z3 measured height correction parameter ΔZ3 third reference device.

Further, a possible embodiment of the first aspect, measuring the location of the terminal device comprises: a measuring longitude measurement position A terminal device, the terminal device measuring the position B detected latitude, the terminal The height measurement position of the device is measured ;

Position location of the terminal device comprises: the longitude of the position of the positioning terminal device A set of the terminal positioning device latitude predetermined position B, the height of the terminal positioning device fixed position C;

And determining, by the terminal device, the location of the terminal device according to the modified parameter of the third reference device and the measurement location of the terminal device, specifically:

The terminal apparatus according to the longitude correcting the third reference device parameters ΔX3, the longitude of the terminal device measured measurement position A and A = A given measurement + ΔX3, determining the position of the positioning terminal device A predetermined longitude;

The terminal apparatus according to the latitude correcting the third reference device parameters ΔY3, the terminal latitude measuring device measuring the position B and B = B given measuring + ΔY3, determining the position of the positioning terminal apparatus B given latitude;

The terminal apparatus according to the height of the third reference correction parameter ΔZ3 apparatus, the terminal height measuring device measuring the position C = C and C given measuring + ΔZ3, to determine the height position of the positioning terminal C of the given device.

Optionally, in a possible implementation manner of the first aspect, if a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device does not exist in the at least one first reference device The same second reference device, the terminal device determines the location location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, and further includes:

Determining, by the terminal device, a fourth reference device that is closest to the terminal device according to a location of each of the first reference device and a measurement location of the terminal device;

The terminal device updates the measurement location of the terminal device according to the satellite used when the fourth reference device calculates the measurement location of the fourth reference device, and obtains the measurement of the terminal device update. Quantity position

The terminal device determines a positioning location of the terminal device according to the correction parameter of the fourth reference device and the measurement location updated by the terminal device.

According to the positioning method provided by the possible implementation, the terminal device may obtain from the at least one according to the used range of the modified parameter in the acquired correction information of the at least one reference device, the location of the reference device, and the measured position of the terminal device. The reference device accurately screens out at least one first reference device whose terminal device is within the use range of its correction parameter, so that the terminal device can pass the position of each first reference device, and the reference device calculates the measurement position of the reference device a satellite number of the satellite used, selecting a first reference device closest to the environment in which the terminal device is located from the at least one first reference device, so that the terminal device can correct the correction parameter of the first reference device The position of the measurement itself determines the position of the positioning, so that the positioning position is more infinitely close to or equal to the actual location of the terminal device, so that the terminal device can send its positioning position as the location of the vehicle to the management device of the vehicle network. To enable the management of the Internet of Vehicles According to the position of the vehicle, the lane where the vehicle is located can be determined, and then the queuing information of the vehicle in each lane can be obtained, thereby providing accurate road traffic information for the vehicle in the vehicle network, and improving the management of the vehicle network. The effectiveness and accuracy of the traffic information provided by the equipment to the vehicle.

Optionally, in a possible implementation manner of the first aspect, the terminal device determines, according to the correction information of the at least one first reference device and the measurement location of the terminal device, a location location of the terminal device, where include:

Determining, by the terminal device, a fifth reference device that is closest to the terminal device according to a location of each of the first reference device and a measurement location of the terminal device;

Determining, by the terminal device, whether a satellite number corresponding to a satellite used by the fifth reference device to calculate a measurement position of the fifth reference device and a satellite used by the terminal device to calculate a measurement position of the terminal device The satellite numbers are the same;

If yes, the terminal device determines a positioning location of the terminal device according to the correction parameter of the fifth reference device and the measurement location of the terminal device;

If not, the terminal device updates the measurement location of the terminal device according to the satellite used by the fifth reference device to calculate the measurement location of the fifth reference device, and obtains the measurement location updated by the terminal device, and Correcting parameters according to the fifth reference device and updating the terminal device The measurement position determines the positioning position of the terminal device.

According to the positioning method provided by the possible implementation, the terminal device may obtain from the at least one according to the used range of the modified parameter in the acquired correction information of the at least one reference device, the location of the reference device, and the measured position of the terminal device. The reference device accurately screens out at least one first reference device whose terminal device is within the use range of its correction parameter, so that the terminal device can pass the position of each first reference device, and the reference device calculates the measurement position of the reference device a satellite number of the satellite used, selecting a first reference device closest to the environment in which the terminal device is located from the at least one first reference device, so that the terminal device can correct the correction parameter of the first reference device The position of the measurement itself determines the position of the positioning, so that the positioning position is more infinitely close to or equal to the actual location of the terminal device, so that the terminal device can send its positioning position as the location of the vehicle to the management device of the vehicle network. To enable the management of the Internet of Vehicles According to the position of the vehicle, the lane where the vehicle is located can be determined, and then the queuing information of the vehicle in each lane can be obtained, thereby providing accurate road traffic information for the vehicle in the vehicle network, and improving the management of the vehicle network. The effectiveness and accuracy of the traffic information provided by the equipment to the vehicle.

Optionally, in a possible implementation manner of the first aspect, the acquiring, by the terminal device, the correction information of the at least one reference device includes:

The terminal device receives correction information of each reference device sent by each reference device to obtain correction information of the at least one reference device.

Optionally, in a possible implementation manner of the first aspect, the acquiring, by the terminal device, the correction information of the at least one reference device includes:

The terminal device receives the correction information of the reference device sent by each first terminal device to obtain the correction information of the at least one reference device; the correction information of the reference device sent by each of the first terminal devices is the current correction The correction information of the reference device used when measuring the position of the first terminal device.

The positioning method provided by the possible implementation manner causes the terminal device to be blocked by the building or in a bad environment, and the terminal device is not close to the reference device, but cannot receive the correction information sent by the reference device. The correction information of the reference device sent by the first terminal device can still be used to correct its own measurement position, thereby improving the efficiency of the terminal device determining the positioning position.

Optionally, in a possible implementation manner of the first aspect, the terminal device receives the correction information of the reference device that is sent by each of the first terminal devices, and specifically includes:

The terminal device receives a vehicle-to-V2X message sent by each of the first terminal devices, where the V2X message carries the first identifier and the correction information of the reference device, where the first identifier is used to indicate to the terminal device The V2X message carries the correction information of the reference device;

The terminal device parses the V2X message according to the first identifier to obtain correction information of the reference device.

The positioning method provided by the possible implementation manner, after the terminal device receives the V2X message of the first terminal device, according to the first identifier carried in the V2X message, whether the V2X message carries the reference device Correcting the information, if it is determined that the V2X message carries the correction information of the reference device, the terminal device further parses the V2X message to obtain the correction information of the reference device carried by the terminal device, and improves the terminal device to obtain the correction information of the reference device. effectiveness.

Optionally, in a possible implementation manner of the first aspect, the first identifier is further configured to indicate to the terminal device that a current location of the first terminal device is a location location.

The positioning method provided by the possible implementation manner, so that the terminal device can determine, according to the first identifier, that the location where the first terminal device broadcasts is the location location, so that the terminal device obtains the location of the first terminal device. After the location, the distance between the first terminal device and the first terminal device can be accurately determined according to the positioning position of the first terminal device, so that the terminal device can provide the user with the correct driving speed by combining information such as the speed of the vehicle where the terminal device is located. Suggest.

Optionally, in a possible implementation manner of the first aspect, the terminal device determines, after determining the location of the terminal device, according to the correction information of the at least one first reference device and the measurement location of the terminal device, The method further includes:

The terminal device broadcasts a V2X message corresponding to the terminal device.

The positioning method provided by the possible implementation manner enables the terminal device located on other vehicles around the terminal device to obtain the correction information of the reference device that currently corrects the terminal through the V2X message sent by the terminal device, thereby making the other The terminal device can correct its own measurement position by using the correction information of the reference device carried in the V2X message sent by the terminal device.

Further, in a possible implementation manner of the first aspect, the terminal device determines the terminal according to the correction information of the at least one reference device and the measurement location of the terminal device After the location of the device, the method further includes:

Determining, by the terminal device, a second distance between the terminal device and a reference device that currently corrects the terminal device according to the location location of the terminal device and the current location of the reference device of the terminal device;

Determining, according to the second distance, whether the terminal device is located within a use range of a correction parameter of a reference device that currently corrects the terminal device;

If not, the positioning position of the terminal device is re-determined.

The positioning method provided by the possible implementation manner enables the terminal device to determine in time whether the terminal device moves outside the use range of the correction parameter of the reference device of the current modified terminal device, and determines the reference to move to the current modified terminal device. When the correction parameter of the device is out of the range of use, the terminal device can re-determine the positioning position of the terminal device in time, that is, re-execute the positioning method provided by the embodiment of the present invention, so that the terminal device can correct the correction information of the correct reference device. The measurement position ensures the accuracy of the positioning of the terminal device.

Further, in a possible implementation manner of the first aspect, the terminal device determines, after determining a location location of the terminal device, according to the correction information of the at least one reference device and the measurement location of the terminal device, The method also includes:

Determining, by the terminal device, a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device, and a satellite of a satellite used when the reference device of the terminal device currently corrects the measurement position of the reference device Whether the numbers are the same;

If not, the positioning position of the terminal device is re-determined.

The positioning method provided by the possible embodiment enables the terminal device to determine the satellite number of the satellite used when calculating the measurement position and the satellite number of the satellite used by the reference device of the current modified terminal device to calculate the measurement position of the reference device When the method is different, the positioning position of the terminal device can be re-determined in time, that is, the positioning method provided by the embodiment of the present invention is re-executed, so that the terminal device can correct the measurement position by using the correction information of the correct reference device, thereby ensuring the positioning of the terminal device. The precision.

In a second aspect, an embodiment of the present invention provides a positioning apparatus, where the apparatus includes:

An obtaining module, configured to acquire correction information of the at least one reference device, where the correction information of each of the reference devices includes a correction parameter for the terminal device to correct the measurement position of the terminal device, and a usage range of the correction parameter; The correction parameter is a measurement position of the reference device Corrected to a parameter of a positioning position of the reference device;

a determining module, configured to determine a positioning location of the terminal device according to the correction information of the at least one reference device acquired by the acquiring module and the measurement location of the terminal device.

Further, in a possible implementation manner of the second aspect, the correction information of each of the reference devices further includes a location of each of the reference devices; and the location of the reference device is a location of the reference device Or the measurement location of the reference device.

Optionally, in a possible implementation manner of the second aspect, the determining module includes:

a first determining unit, configured to determine, according to a usage range of the correction parameter of each of the reference devices, a location of each of the reference devices, and a measurement location of the terminal device, at least one first reference device; Located within the use range of the correction parameter of the first reference device;

a second determining unit, configured to determine a positioning location of the terminal device according to the correction information of the at least one first reference device determined by the first determining unit and the measurement location of the terminal device.

Optionally, in a possible implementation manner of the second aspect, the first determining unit is configured to determine the terminal device according to a measurement location of the terminal device and a location of each of the reference devices. a first distance from each of the reference devices, and according to a first distance between the terminal device and each of the reference devices and a use range of a correction parameter of each of the reference devices A reference device in which a first distance between the terminal devices is less than or equal to a use range of the correction parameter of the reference device is determined as the first reference device.

Further, in a possible implementation manner of the second aspect, the correction information of each of the reference devices further includes a satellite number corresponding to a satellite used by each of the reference devices to calculate a measurement position of the reference device .

Optionally, in a possible implementation manner of the second aspect, the second determining unit is specifically configured to calculate, according to the at least one first reference device, a measurement location of the first reference device Determining, by the satellite number corresponding to the satellite, whether there is a second reference device in the at least one first reference device that has the same satellite number as the satellite used by the terminal device to calculate the measurement position of the terminal device, and determining When there is a second reference device in the at least one first reference device that is the same as the satellite number of the satellite used when the terminal device calculates the measurement location of the terminal device, according to the correction information and the location of the second reference device Determining a measurement location of the terminal device, and determining a location location of the terminal device.

Further, in a possible implementation manner of the second aspect, the second reference device is Multiple

The second determining unit is configured to determine a positioning location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device, specifically:

The second determining unit is configured to determine, according to the location of the second reference device and the measured location of the terminal device, a third reference device that is closest to the terminal device in the second reference device, and according to Determining a positioning position of the terminal device by determining a correction parameter of the third reference device and a measurement position of the terminal device.

Optionally, in a possible implementation manner of the second aspect, the positioning position of the third reference device includes: a longitude positioning position X3 of the third reference device, and a latitude positioning of the third reference device Y3 predetermined position, the height position of the third positioning device Z3 predetermined reference;

The third reference position measuring apparatus comprising: measuring the height measuring position X3 longitude third reference sensing device, the third reference latitude measuring device measuring the position Y3, the third reference position Z3 measuring device;

Then the correction parameter third device comprising: determining according to said predetermined ΔX3 = X3 -X3 correction parameter measured longitude third reference device ΔX3, determined according to the given -Y3 ΔY3 = Y3 third reference sensing device Lat correction parameter ΔY3, determined according to the predetermined ΔZ3 = Z3 -Z3 measured height correction parameter ΔZ3 third reference device.

Further, a possible embodiment of the second aspect, the measuring location of the terminal device comprises: a measuring longitude measurement position A terminal device, the terminal device measuring the position B detected latitude, the terminal The height measurement position of the device is measured ;

Position location of the terminal device comprises: the longitude of the position of the positioning terminal device A set of the terminal positioning device latitude predetermined position B, the height of the terminal positioning device fixed position C;

The second determining unit is configured to determine, according to the modified parameter of the third reference device and the measured location of the terminal device, a positioning location of the terminal device, specifically:

The second determination unit is configured in accordance with the longitude correction parameter ΔX3 third reference device, the sensing and longitude measurement position A terminal device A = A given measurement + ΔX3, determining longitude positioning of the terminal device A fixed position;

The latitude of the third device reference correction parameter ΔY3, the terminal latitude measuring device measuring the position B and B = B given measuring + ΔY3, determining the position of the positioning terminal apparatus B given latitude;

The height of the third reference correction parameter ΔZ3 apparatus, the terminal height measuring device measuring the position C = C and C given measuring + ΔZ3, to determine the height position of the positioning terminal C of the given device.

Optionally, in a possible implementation manner of the second aspect, if the at least one first reference device does not have a satellite number of the satellite used when the terminal device calculates the measurement location of the terminal device And the second determining unit is configured to determine, according to the correction information of the at least one first reference device and the measurement location of the terminal device, a positioning location of the terminal device, specifically:

The second determining unit is configured to determine, according to the location of each of the first reference device and the measured location of the terminal device, a fourth reference device that is closest to the terminal device, according to the fourth reference device. Calculating a measurement position of the terminal device by using a satellite used to calculate a measurement position of the fourth reference device, obtaining a measurement location updated by the terminal device, and according to the correction parameter of the fourth reference device and the terminal device The updated measurement location determines the location of the terminal device.

Optionally, in a possible implementation manner of the second aspect, the second determining unit is configured to determine the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device The location of the location, specifically:

The second determining unit is configured to determine, according to the location of each of the first reference device and the measured location of the terminal device, a fifth reference device that is closest to the terminal device, and determine the fifth reference device. Whether the satellite number corresponding to the satellite used when calculating the measurement position of the fifth reference device is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device;

Determining, when determining that the fifth reference device calculates a measurement position of the fifth reference device, a satellite number corresponding to a satellite, and using a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device Determining, according to the correction parameter of the fifth reference device and the measurement location of the terminal device, a positioning location of the terminal device;

Determining a satellite number corresponding to a satellite used by the fifth reference device to calculate a measurement position of the fifth reference device is different from a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device Simultaneously, the satellite used by the fifth reference device calculates the measurement position of the fifth reference device to update the measurement position of the terminal device, and obtains the measurement position updated by the terminal device, and according to the fifth reference A correction parameter of the device and a measurement position updated by the terminal device determine a positioning position of the terminal device.

Optionally, in a possible implementation manner of the second aspect, the acquiring module is configured to receive, by using the correction information of each reference device sent by each reference device, to obtain the correction of the at least one reference device. information.

Optionally, in a possible implementation manner of the second aspect, the acquiring module is configured to receive, by the first terminal device, correction information of the reference device, to obtain the correction of the at least one reference device. The correction information of the reference device sent by each of the first terminal devices is the correction information of the reference device used when the measurement position of the first terminal device is currently modified.

Optionally, in a possible implementation manner of the second aspect, the acquiring module is configured to receive the correction information of the reference device that is sent by each first terminal device, specifically:

The acquiring module is configured to receive a vehicle V2X message sent by each first terminal device, and parse the V2X message according to the first identifier to obtain correction information of the reference device; the V2X message The first identifier is used to carry the first identifier and the correction information of the reference device, where the first identifier is used to indicate to the terminal device that the V2X message carries the correction information of the reference device.

Optionally, in a possible implementation manner of the second aspect, the first identifier is further used to indicate to the terminal device that the current location of the first terminal device is a location location.

Optionally, in a possible implementation manner of the second aspect, the device further includes:

a broadcast module, configured to broadcast, by the determining module, a V2X message corresponding to the terminal device after determining the location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device.

Further, in a possible implementation manner of the second aspect, the determining module is further configured to determine, according to the correction information of the at least one reference device and the measurement location of the terminal device, the terminal device After locating the location, determining a second distance between the terminal device and a reference device that currently corrects the terminal device according to the location location of the terminal device and the current location of the reference device of the terminal device, and according to the location Determining, by the second distance, whether the terminal device is located within a use range of a correction parameter of the reference device that currently corrects the terminal device, and determining that the terminal device exceeds a current use range of the correction parameter of the reference device of the terminal device At the time, the positioning position of the terminal device is re-determined.

Further, in a possible implementation manner of the second aspect, the determining module is further configured to determine, according to the correction information of the at least one reference device and the measurement location of the terminal device, the terminal device After the location is located, determining that the terminal device calculates the measurement of the terminal device Whether the satellite number of the satellite used in the position is the same as the satellite number of the satellite used when the reference device of the terminal device currently calculates the measurement position of the reference device, and determines that the terminal device calculates the terminal Redetermining the location of the terminal device when the satellite number of the satellite used in the measurement position of the device is different from the satellite number of the satellite used when the reference device of the terminal device currently calculates the measurement position of the reference device is different. position.

The second aspect and the positioning device provided by each possible embodiment of the second aspect can be beneficially seen in the first aspect and the beneficial effects brought by the possible embodiments of the first aspect, and no longer Narration.

In a third aspect, an embodiment of the present invention provides a positioning apparatus, where the apparatus includes:

a processor, configured to acquire correction information of the at least one reference device, and determine a positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device; The correction information includes a correction parameter for the terminal device to correct the measurement position of the terminal device, and a use range of the correction parameter, wherein the correction parameter is to modify the measurement position of the reference device to the reference device The parameters of the location location.

Further, in a possible implementation manner of the third aspect, the correction information of each of the reference devices further includes a location of each of the reference devices; and the location of the reference device is a location of the reference device Or the measurement location of the reference device.

Optionally, in a possible implementation manner of the third aspect, the processor is configured to determine, according to the correction information of the at least one reference device and the measurement location of the terminal device, the location of the terminal device Location, specifically:

The processor is specifically configured to determine, according to a usage range of the correction parameter of each of the reference devices, a location of each of the reference devices, and a measurement location of the terminal device, at least one first reference device, and according to at least Determining a positioning position of the terminal device by using correction information of the first reference device and a measurement position of the terminal device; the terminal device being located within a use range of the correction parameter of the first reference device.

Optionally, in a possible implementation manner of the third aspect, the processor is configured to use a range of the modified parameter according to each of the reference devices, a location of each of the reference devices, and the terminal The measurement location of the device determines at least one first reference device, specifically:

The processor is specifically configured to determine, according to a measurement location of the terminal device and a location of each of the reference devices, a first distance between the terminal device and each of the reference devices, and according to a first distance between the terminal device and each of the reference devices and a use range of a correction parameter of each of the reference devices, and a first distance between the terminal device and the terminal device is less than or equal to a reference device A reference device that corrects the range of use of the parameter is determined as the first reference device.

Further, in a possible implementation manner of the third aspect, the correction information of each of the reference devices further includes a satellite number corresponding to a satellite used by each of the reference devices to calculate a measurement position of the reference device .

Optionally, in a possible implementation manner of the third aspect, the processor is configured to determine, according to the correction information of the at least one first reference device and the measurement location of the terminal device, the location of the terminal device Location, specifically:

The processor is configured to determine, according to the satellite number corresponding to the satellite used when the measurement position of the first reference device is calculated by the at least one first reference device, whether the at least one first reference device exists and a second reference device having the same satellite number of the satellite used by the terminal device when calculating the measurement position of the terminal device, and calculating, in the at least one first reference device, the terminal device When the second reference device with the same satellite number of the satellite used for measuring the position is used, the positioning position of the terminal device is determined according to the correction information of the second reference device and the measurement position of the terminal device.

Further, in a possible implementation manner of the third aspect, the second reference device is multiple;

The processor is configured to determine a positioning location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device, specifically:

The processor is configured to determine, according to the location of the second reference device and the measurement location of the terminal device, a third reference device that is closest to the terminal device in the second reference device, and according to the Determining a positioning position of the terminal device by determining a correction parameter of the third reference device and a measurement position of the terminal device.

Optionally, in a possible implementation manner of the third aspect, the positioning position of the third reference device includes: a longitude positioning position X3 of the third reference device, and a latitude positioning of the third reference device Y3 predetermined position, the height position of the third positioning device Z3 predetermined reference;

The third reference position measuring apparatus comprising: measuring the height measuring position X3 longitude third reference sensing device, the third reference latitude measuring device measuring the position Y3, the third reference position Z3 measuring device;

Then the correction parameter third device comprising: determining according to said predetermined ΔX3 = X3 -X3 correction parameter measured longitude third reference device ΔX3, determined according to the given -Y3 ΔY3 = Y3 third reference sensing device Lat correction parameter ΔY3, determined according to the predetermined ΔZ3 = Z3 -Z3 measured height correction parameter ΔZ3 third reference device.

Further, a possible embodiment of the third aspect, the measuring location of the terminal device comprises: a measuring longitude measurement position A terminal device, the terminal device measuring the position B detected latitude, the terminal The height measurement position of the device is measured ;

Position location of the terminal device comprises: the longitude of the position of the positioning terminal device A set of the terminal positioning device latitude predetermined position B, the height of the terminal positioning device fixed position C;

The processor is configured to determine a positioning location of the terminal device according to the modified parameter of the third reference device and the measured location of the terminal device, specifically:

The processor, particularly for measuring the longitude Lon correction parameter according to the third reference ΔX3 apparatus, the terminal apparatus and the measurement position A A = A given measurement + ΔX3, longitude position location determination of the terminal device A set; latitude measuring altitude correction parameter ΔY3 the third reference device, the terminal device location measurement B = B and B given measuring + ΔY3, determine the latitude given position location of the terminal device B; based on the first height correction parameter ΔZ3 three reference devices, the terminal device measuring height measurement position C = C and C given measuring + ΔZ3, determining the height position of the positioning terminal device C set.

Optionally, in a possible implementation manner of the third aspect, if the at least one first reference device does not have a satellite number of the satellite used when the terminal device calculates the measurement location of the terminal device And the same second reference device, the processor is configured to determine, according to the correction information of the at least one first reference device and the measurement location of the terminal device, a location location of the terminal device, specifically:

The processor is specifically configured to determine, according to a location of each of the first reference device and a measurement location of the terminal device, a fourth reference device that is closest to the terminal device, and calculate, according to the fourth reference device Updating a measurement position of the terminal device by using a satellite used by the measurement location of the fourth reference device to obtain a measurement location updated by the terminal device, and updating the terminal device according to the correction parameter of the fourth reference device Measuring the position to determine the positioning position of the terminal device.

Optionally, in a possible implementation manner of the third aspect, the processor is configured to determine the end according to the correction information of the at least one first reference device and the measurement location of the terminal device The location of the end device is as follows:

The processor is specifically configured to determine, according to a location of each of the first reference device and a measurement location of the terminal device, a fifth reference device that is closest to the terminal device, and determine that the fifth reference device calculates Whether the satellite number corresponding to the satellite used when measuring the position of the fifth reference device is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device;

Determining, when determining that the fifth reference device calculates a measurement position of the fifth reference device, a satellite number corresponding to a satellite, and using a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device Determining, according to the correction parameter of the fifth reference device and the measurement location of the terminal device, a positioning location of the terminal device;

Determining a satellite number corresponding to a satellite used by the fifth reference device to calculate a measurement position of the fifth reference device is different from a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device Simultaneously, the satellite used by the fifth reference device calculates the measurement position of the fifth reference device to update the measurement position of the terminal device, and obtains the measurement position updated by the terminal device, and according to the fifth reference A correction parameter of the device and a measurement position updated by the terminal device determine a positioning position of the terminal device.

Optionally, in a possible implementation manner of the third aspect, the device further includes: a receiver;

The processor is configured to obtain the correction information of the at least one reference device, specifically:

The processor is configured to receive, by the receiver, correction information of each reference device sent by each reference device to obtain correction information of the at least one reference device.

Optionally, in a possible implementation manner of the third aspect, the device further includes: a receiver;

The processor is configured to obtain the correction information of the at least one reference device, specifically:

The processor is configured to receive, by the receiver, correction information of a reference device that is sent by each first terminal device, to obtain correction information of the at least one reference device, where the first terminal device sends The correction information of the reference device is correction information of the reference device used when the measurement position of the first terminal device is currently corrected.

Optionally, in a possible implementation manner of the third aspect, the processor is configured to receive, by using the receiver, correction information of a reference device that is sent by each first terminal device, specifically:

The processor is configured to receive, by the receiver, a car-to-all V2X message sent by each first terminal device, and parse the V2X message according to the first identifier, to obtain correction information of the reference device. The V2X message carries the first identifier and the correction information of the reference device, where the first identifier is used to indicate to the terminal device that the V2X message carries the correction information of the reference device.

Optionally, in a possible implementation manner of the third aspect, the first identifier is further configured to indicate to the terminal device that a current location of the first terminal device is a location location.

Optionally, in a possible implementation manner of the third aspect, the device further includes: a transmitter;

The transmitter is configured to broadcast a V2X message corresponding to the terminal device after determining, by the processor, the location information of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device .

Further, in a possible implementation manner of the third aspect, the processor is further configured to determine, according to the correction information of the at least one reference device and the measurement location of the terminal device, the terminal device After locating the location, determining a second distance between the terminal device and a reference device that currently corrects the terminal device according to the location location of the terminal device and the current location of the reference device of the terminal device, and according to the location Determining, by the second distance, whether the terminal device is located within a use range of a correction parameter of the reference device that currently corrects the terminal device, and determining that the terminal device exceeds a current use range of the correction parameter of the reference device of the terminal device At the time, the positioning position of the terminal device is re-determined.

Further, in a possible implementation manner of the third aspect, the processor is further configured to determine, according to the correction information of the at least one reference device and the measurement location of the terminal device, the terminal device After locating the location, determining a satellite number of the satellite used by the terminal device to calculate the measurement location of the terminal device and a satellite of the satellite used to correct the measurement location of the reference device when the reference device of the terminal device is currently modified Whether the numbers are the same, the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device, and the satellite used when the reference device of the terminal device is currently corrected to calculate the measurement position of the reference device When the satellite numbers are different, the positioning position of the terminal device is re-determined.

The third aspect and the positioning device provided by each possible implementation manner of the third aspect can be beneficially seen by the first aspect and the possible implementation manners of the first aspect. Benefits are not repeated here.

In a fourth aspect, an embodiment of the present invention provides a positioning method, where the method includes:

The terminal device acquires first modification information from the first reference device, where the first modification information includes a first correction parameter, a location of the first reference device, and a usage range of the first correction parameter, where the first The location of the reference device includes a preset location of the first reference device or a measurement location of the first reference device, and the measurement location of the first reference device is a measurement of the first reference device by a satellite positioning system The location obtained;

Determining, by the terminal device, a positioning location of the terminal device according to the first modification information and a measurement location of the terminal device, where a measurement location of the terminal device is located within a usage range of the first modification parameter, The measurement position of the terminal device is a position obtained by measuring the terminal device by the satellite positioning system.

Further, in a possible implementation manner of the fourth aspect, the terminal device, before determining the location of the terminal device, according to the first modification information and the measurement location of the terminal device, further includes:

The terminal device acquires second correction information from the second reference device, where the second modification information includes a second correction parameter, a location of the second reference device, and a usage range of the second correction parameter, where the second The location of the reference device includes a preset location of the second reference device or the second reference device measurement location, the measured location of the second reference device is a measurement of the second reference device by the satellite positioning system The obtained location, the measurement location of the terminal device is located within the use range of the second correction parameter, and the first reference device is the distance between the first reference device and the second reference device The closest reference device to the device.

Further, in a possible implementation manner of the fourth aspect, the terminal device, before determining the location of the terminal device, according to the first modification information and the measurement location of the terminal device, further includes:

The terminal device acquires third correction information from the third reference device, where the third correction information includes a third correction parameter, a location of the third reference device, and a usage range of the third correction parameter, where the third The location of the reference device includes a preset location of the third reference device or the third reference device measurement location, and the measurement location of the third reference device is to measure the third reference device by using the satellite positioning system The resulting position, the measurement position of the terminal device is outside the use range of the third correction parameter.

Optionally, in a possible implementation manner of the fourth aspect, the first modification information further includes a number of the first satellite, where the measurement location of the first reference device is through the satellite positioning system a position obtained by the first satellite measuring the first reference device, where the measured position of the terminal device is a position obtained by measuring the terminal device by a second satellite in the satellite positioning system, The first satellite and the second satellite are the same satellite.

Optionally, in a possible implementation manner of the fourth aspect, the first satellite and the second satellite are different satellites, and the terminal device is configured according to the first correction information and the measurement by the terminal device a location, determining a location location of the terminal device, including:

And acquiring, by the terminal device, a measurement location that is updated by the terminal device, where the measurement location updated by the terminal device is a location obtained by measuring, by the first satellite in the satellite positioning system, the terminal device;

The terminal device determines a positioning location of the terminal device according to the first modification information and a measurement location updated by the terminal device.

Further, in a possible implementation manner of the fourth aspect, the terminal device, after determining the location location of the terminal device, according to the first modification information and the measurement location of the terminal device, further includes:

The terminal device broadcasts a V2X message to the other terminal device, where the V2X message carries the first modification information and the first identifier, where the first identifier is used to indicate that the V2X message carries the first correction information, and the indication The current location of the terminal device is a location location of the terminal device.

For the beneficial effects of the positioning device provided by the above-mentioned fourth aspect and the possible embodiments of the fourth aspect, reference may be made to the beneficial effects brought by the first aspect and the possible embodiments of the first aspect, and no longer Narration.

In a fifth aspect, an embodiment of the present invention provides a positioning apparatus, where the apparatus includes:

An acquiring module, configured to acquire first correction information from the first reference device, where the first modification information includes a first correction parameter, a location of the first reference device, and a usage range of the first correction parameter, where The location of the first reference device includes a preset location of the first reference device or a measurement location of the first reference device, and the measurement location of the first reference device is to the first reference device by using a satellite positioning system The position obtained by the measurement;

a determining module, configured to determine a positioning position of the terminal device according to the first correction information and a measurement location of the terminal device, where the measurement location of the terminal device is located in the first repair Within the range of use of the positive parameter, the measured position of the terminal device is the position obtained by measuring the terminal device by the satellite positioning system.

Further, in a possible implementation manner of the fifth aspect, the acquiring module is further configured to: determine, by the determining module, the terminal device according to the first modification information and a measurement location of the terminal device Obtaining second correction information from the second reference device, where the second correction information includes a second correction parameter, a location of the second reference device, and a usage range of the second correction parameter, where The location of the second reference device includes a preset location of the second reference device or the second reference device measurement location, and the measurement location of the second reference device is the second reference by the satellite positioning system a position obtained by the device, wherein the measurement position of the terminal device is within a range of use of the second correction parameter, and the first reference device is a distance between the first reference device and the second reference device The nearest reference device of the terminal device.

Further, in a possible implementation manner of the fifth aspect, the acquiring module is further configured to: determine, by the determining module, the terminal device according to the first modification information and a measurement location of the terminal device Obtaining third correction information from the third reference device, where the third correction information includes a third correction parameter, a location of the third reference device, and a usage range of the third correction parameter, where The location of the third reference device includes a preset location of the third reference device or the third reference device measurement location, and the measurement location of the third reference device is the third reference by the satellite positioning system The device obtains a position obtained by measurement, and the measurement position of the terminal device is outside the use range of the third correction parameter.

Optionally, in a possible implementation manner of the fifth aspect, the first correction information further includes a number of the first satellite, where the measurement location of the first reference device is through the satellite positioning system a position obtained by the first satellite measuring the first reference device, where the measured position of the terminal device is a position obtained by measuring the terminal device by a second satellite in the satellite positioning system, The first satellite and the second satellite are the same satellite.

Optionally, in a possible implementation manner of the fifth aspect, the first satellite and the second satellite are different satellites, and the determining module is specifically configured to acquire a measurement location that is updated by the terminal device, Determining, according to the first modification information and the measurement location updated by the terminal device, a positioning location of the terminal device; the measurement location updated by the terminal device is by using the first satellite pair in the satellite positioning system The terminal device performs a measurement of the obtained position.

Further, in a possible implementation manner of the fifth aspect, the device further includes:

a broadcast module, configured to: after the determining module determines the location location of the terminal device according to the first modification information and the measurement location of the terminal device, broadcast a V2X message to another terminal device, where the V2X message carries The first modification information and the first identifier are used to indicate that the V2X message carries the first modification information, and that the current location of the terminal device is a location location of the terminal device.

The beneficial effects of the positioning device provided by the fifth aspect and the possible implementation manners of the fifth aspect can be seen in the beneficial effects of the first aspect and the possible implementation manners of the first aspect, and no longer Narration.

In a sixth aspect, an embodiment of the present invention provides a positioning apparatus, where the apparatus includes:

a processor, configured to acquire first correction information from the first reference device, and determine a positioning location of the terminal device according to the first modification information and the measurement location of the terminal device;

The first correction information includes a first correction parameter, a location of the first reference device, and a usage range of the first correction parameter, where the location of the first reference device includes a preset of the first reference device a location or a measurement location of the first reference device, the measurement location of the first reference device being a location obtained by measuring the first reference device by a satellite positioning system; wherein the measurement location of the terminal device is located Within the range of use of the first correction parameter, the measurement position of the terminal device is a position obtained by measuring the terminal device by the satellite positioning system.

Further, in a possible implementation manner of the sixth aspect, the processor is further configured to determine, before determining a location of the terminal device, according to the first modification information and the measurement location of the terminal device Obtaining second correction information from the second reference device, the second modification information including a second correction parameter, a location of the second reference device, and a usage range of the second correction parameter, wherein the second reference The location of the device includes a preset location of the second reference device or the second reference device measurement location, and the measurement location of the second reference device is a measurement performed by the satellite positioning system on the second reference device The obtained location, the measurement location of the terminal device is located within the use range of the second correction parameter, and the first reference device is the distance between the first reference device and the second reference device The most recent reference device.

Further, in a possible implementation manner of the sixth aspect, the processor is further configured to determine, according to the first modification information and the measurement location of the terminal device, the terminal device Obtaining third correction information from the third reference device, where the third correction information includes a third correction parameter, a location of the third reference device, and a usage range of the third correction parameter, where the location is The location of the third reference device includes a preset location of the third reference device or the third reference device measurement location, and the measurement location of the third reference device is to the third reference device by the satellite positioning system The position obtained by the measurement is performed, and the measurement position of the terminal device is outside the use range of the third correction parameter.

Optionally, in a possible implementation manner of the sixth aspect, the first correction information further includes a number of the first satellite, where the measurement position of the first reference device is through the satellite positioning system a position obtained by the first satellite measuring the first reference device, where the measured position of the terminal device is a position obtained by measuring the terminal device by a second satellite in the satellite positioning system, The first satellite and the second satellite are the same satellite.

Optionally, in a possible implementation manner of the sixth aspect, the first satellite and the second satellite are different satellites, and the processor is configured to use, according to the first correction information, the terminal The measurement location of the device determines the location of the terminal device, specifically:

The processor is specifically configured to acquire a measurement location updated by the terminal device, and determine a location location of the terminal device according to the first modification information and a measurement location updated by the terminal device; The measured position is a position obtained by measuring the terminal device by the first satellite in the satellite positioning system.

Further, in a possible implementation manner of the sixth aspect, the device further includes:

a transmitter, configured to: after the determining, according to the first modification information and the measurement location of the terminal device, the V2X message, the V2X message is carried by the processor to another terminal device The first modification information and the first identifier are used to indicate that the V2X message carries the first modification information, and that the current location of the terminal device is a location location of the terminal device.

For the beneficial effects of the positioning device provided by the above-mentioned sixth aspect and the possible embodiments of the sixth aspect, reference may be made to the beneficial effects brought by the first aspect and the possible embodiments of the first aspect, and no longer Narration.

The positioning method and device provided by the embodiment of the present invention enable the terminal device on the vehicle to obtain the correction information of the at least one reference device in real time during the process of acquiring the measurement location of the device by the satellite positioning system, so that the terminal device can At least one reference device correction information, To correct its own measurement position to determine its own positioning position, so that the positioning position is infinitely close to or equal to the actual location of the terminal device itself, so that the terminal device can send its positioning position as the location of the vehicle to the management device of the vehicle network. In order to enable the vehicle network management device to determine the lane in which the vehicle is located according to the location of the vehicle, and thereby obtain the queuing information of the vehicle in each lane of the vehicle network, thereby providing accurate road traffic information for the vehicle in the vehicle network. Improve the effectiveness and accuracy of the traffic information provided by the vehicle management equipment to the vehicle.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description of the drawings used in the embodiments or the prior art description will be briefly described below. Obviously, the drawings in the following description It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

FIG. 1 is a schematic flowchart of Embodiment 1 of a positioning method according to an embodiment of the present disclosure;

2 is a schematic flowchart of Embodiment 3 of a positioning method according to an embodiment of the present disclosure;

FIG. 3 is a schematic flowchart diagram of Embodiment 4 of a positioning method according to an embodiment of the present disclosure;

4 is a schematic flowchart of Embodiment 5 of a positioning method according to an embodiment of the present disclosure;

FIG. 5 is a schematic structural diagram of Embodiment 1 of a positioning device according to an embodiment of the present disclosure;

FIG. 6 is a schematic structural diagram of Embodiment 2 of a positioning apparatus according to an embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of Embodiment 3 of a positioning apparatus according to an embodiment of the present disclosure;

FIG. 8 is a schematic structural diagram of Embodiment 4 of a positioning apparatus according to an embodiment of the present disclosure;

FIG. 9 is a schematic structural diagram of Embodiment 5 of a positioning apparatus according to an embodiment of the present disclosure;

FIG. 10 is a structural block diagram of a terminal device when the terminal device is a mobile phone according to an embodiment of the present invention.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. It is a partial embodiment of the invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be understood that the term "and/or" as used herein is merely an association that describes an associated object. The relationship indicates that there may be three kinds of relationships, for example, A and/or B, which may indicate that there are three cases where A exists separately, A and B exist at the same time, and B exists separately. In addition, the character "/" in this article generally indicates that the contextual object is an "or" relationship.

It should be understood that although the terms first, second, third, etc. may be used to describe reference devices in the embodiments of the present invention, these reference devices should not be limited to these terms. These terms are only used to distinguish reference devices from one another. For example, the first reference device may also be referred to as a second reference device without departing from the scope of the embodiments of the present invention. Similarly, the second reference device may also be referred to as a first reference device.

It should be understood that although the terms first, second, etc. may be used to describe the terminal devices in the embodiments of the present invention, these terminal devices should not be limited to these terms. These terms are only used to distinguish terminal devices from each other. For example, the first terminal device may also be referred to as a second terminal device without departing from the scope of the embodiments of the present invention. Similarly, the second terminal device may also be referred to as a first terminal device.

The terminal device according to the embodiment of the present invention may be a device that provides voice and/or data connectivity to a user, a handheld device with a wireless connection function, or other processing device connected to a wireless modem. The wireless terminal can communicate with one or more core networks via a Radio Access Network (RAN), which can be a mobile terminal, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal. For example, it may be a portable, pocket, handheld, computer built-in or in-vehicle mobile device that exchanges language and/or data with a wireless access network. For example, personal communication service (PCS, Personal Communication Service) telephone, cordless telephone, Session Initiation Protocol (SIP) telephone, Wireless Local Loop (WLL) station, Personal Digital Assistant (PDA, Personal Digital Assistant), etc. . A wireless terminal may also be called a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, or an access point. Remote Terminal, Access Terminal, User Terminal, User Agent, User Device, or User Equipment.

The reference device involved in the present invention may be a Road Side Unit (RSU), or a reference station, or a base station, or an access point, or may refer to an access network that passes through an air interface or A device in which multiple sectors communicate with a wireless terminal. The base station can be used to convert the received air frame and the IP packet into each other as a router between the wireless terminal and the rest of the access network, The remainder of the medium access network may include an Internet Protocol (IP) network. The base station can also coordinate attribute management of the air interface. For example, the base station may be a base station (BTS, Base Transceiver Station) in GSM or CDMA, or may be a base station (NodeB) in WCDMA, or may be an evolved base station (eNB or e-NodeB, evolutional Node B) in LTE. This application is not limited.

The positioning method provided by the embodiment of the present invention can be applied to any satellite positioning system (for example, Global Positioning System (GPS), BeiDou Navigation Satellite System (BDS), Galileo positioning). The system (Galileo Satellite Navigation System) and the Global Navigation Satellite System (GLONASS) locate the terminal device of the location, and the terminal device can be integrated or disposed on the vehicle. The positioning method according to the embodiment of the present invention aims to solve the technical problem that the positioning accuracy of the terminal device on the vehicle in the prior art is low when positioning the vehicle through the satellite positioning system.

In order to facilitate the understanding of the embodiments of the present invention, the following briefly introduces several terms involved in the present application:

The measurement position of the reference device can be the position obtained by the reference device measuring the reference device through the satellite positioning system; the measurement position of the reference device includes: the longitude measurement position of the reference device, the latitude measurement position of the reference device, and the height measurement of the reference device position;

The positioning position of the reference device may be the actual location of the reference device; the positioning position of the reference device includes: the longitude positioning position of the reference device, the latitude positioning position of the reference device, and the height positioning position of the reference device;

The measurement position of the terminal device may be a position obtained by the terminal device measuring the terminal device through the satellite positioning system; the measurement position of the terminal device includes: the longitude measurement position of the terminal device, the A measurement , the latitude measurement position of the terminal device, the B measurement , and the terminal height measurement device measuring position C.

The positioning position of the terminal device may be a position obtained by the terminal device after correcting the measurement position of the terminal device according to the correction parameter of the reference device; the positioning position of the terminal device includes: the longitude positioning position of the terminal device is determined , and the latitude of the terminal device is determined . positioning positioning predetermined height position B, position C given terminal device.

The technical solutions of the present invention and the technical solutions of the present invention are described in detail below with reference to specific embodiments. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be described in some embodiments.

FIG. 1 is a schematic flowchart of Embodiment 1 of a positioning method according to an embodiment of the present disclosure. The first embodiment relates to a specific process for the terminal device to determine the location of the terminal device according to the acquired correction information of the at least one reference device and the measurement location of the terminal device. As shown in FIG. 1, the method can include:

S101. The terminal device acquires the correction information of the at least one reference device, where the correction information of each reference device includes a correction parameter used by the terminal device to modify the measurement position of the terminal device, and a use range of the correction parameter, where the correction parameter is a reference device The measurement position is corrected to the parameter of the positioning position of the reference device.

Specifically, the terminal device may be a terminal device integrated on a vehicle or a terminal device disposed on the vehicle, that is, a terminal device for positioning the position of the vehicle, that is, the location of the vehicle, by the satellite positioning system, optionally, the terminal device It can also be used for wireless communication and information exchange with other vehicle terminal devices.

In this embodiment, the terminal device may acquire the correction information of the at least one reference device in real time during the process of locating the position of the terminal device by using the satellite positioning system, wherein the correction information of each of the reference devices may include the correction parameter. , and, to modify the scope of use of parameters, and so on. The use range of the correction parameter mentioned herein may be a constraint condition for constraining the range of the terminal device that can use the correction parameter, so that the terminal device located within the use range of the correction parameter uses the correction parameter to correct its own measurement position. The obtained positioning position is infinitely close to or equal to the actual position of the terminal, that is, the obtained positioning position is more accurate. In a specific implementation, the use range of the foregoing modified parameter may be less than or equal to the signal coverage of the reference device, and may be determined according to the location of the reference device and the surrounding geographical environment. Exemplarily, assuming that the signal coverage of the reference device is 2000 meters, the use range of the above-mentioned correction parameter may specifically be less than or equal to 2000 meters, for example, 1000 meters, 500 meters, and the like.

The correction parameter mentioned above may be a correction parameter used when the reference device corrects its own measurement position, so that the terminal device located within the use range of the correction parameter can correct the measurement position of the terminal device based on the correction parameter. Get the location of the terminal device. In a specific implementation, the modified parameter may be a modified parameter preset on the reference device, or may be a corrected correction after the initial power-on of the reference device according to the measured position of the reference device and the preset positioning position of the reference device. parameter. Taking the above-mentioned correction parameter as the reference device according to its own measurement position and the position of the preset reference device, the calculated correction parameter is taken as an example, and X is assumed to be longitude and Y. For the latitude and Z is the height, wherein the measurement position of the reference device is (X0, Y0, Z0), and the positioning position of the preset reference device is (X1, Y1, Z1), the reference device may adopt the following formula ( 1)-(3) Calculate the corrected parameters (△X1, △Y1, △Y1), specifically:

△X1=X1–X0 (1)

△Y1=Y1–Y0 (2)

△Z1=Z1–Z0 (3)

S102. The terminal device determines a location location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device.

Specifically, after the terminal device acquires the correction information of the at least one reference device, the measurement location may be corrected according to the correction information of the at least one reference device to determine the location of the location, that is, the location where the device is actually located. Optionally, the terminal device may firstly screen one or more reference devices whose terminal device is within the use range of the modified parameter according to the use range of the modified parameter carried by the correction information of each reference device, so that the terminal device A reference device may be randomly selected among the one or more reference devices, and the measurement position of the randomly selected reference device may be corrected to obtain its positioning position, or in the one or more reference devices. A reference device closest to the terminal device is selected, and the measurement position of the reference device closest to the terminal device is corrected to obtain its positioning position.

Exemplarily, it is assumed that the terminal device corrects its measurement position with the correction parameter of the reference device A, wherein the correction parameter of the reference device A is (ΔXA, ΔYA, ΔZA), and the measurement position of the terminal device is (A measurement , B measurement , C test), the terminal device can (4) according to the formula - (6) determine the position location of the terminal device (a set, B set, set C), in particular:

A = A given measurement + ΔXA (4)

B = B given measurement + ΔYA (5)

C = C given measurement + ΔZA (6)

It should be noted that, in the foregoing examples of S101 and S102, the correction parameter obtained by subtracting the measurement position of the reference device from the positioning parameter of the reference device is used as an example to provide the positioning provided by the embodiment of the present invention. The method has been explained and explained. It can be understood by those skilled in the art that the correction parameter of the reference device can also be the correction parameter obtained by subtracting the positioning position of the reference device from the measurement position of the reference device, in which case When the terminal device corrects its own measurement position by using the correction parameter, it can set its own measurement position and correction parameter. The implementation principle and technical effects of the subtraction are similar to the above examples, and the present invention will not be described again.

In this embodiment, the terminal device may be in a static state or in a motion state. When the terminal device is in a motion state, for the purpose of simple calculation, it may be assumed that the terminal device starts from the acquisition of the correction information of the reference device to the terminal device to determine the location thereof. During the process, the measurement position of the terminal device remains unchanged; to improve the positioning accuracy, the first measurement position when the terminal device obtains the correction information of the reference device can determine the appropriate reference device, and the measurement position is measured by the terminal device. The second measurement position at the time of correction is performed to determine the positioning position of the terminal device.

In the prior art, the vehicle in the vehicle network integrates or is provided with a terminal device. When the vehicle is in operation, the terminal device on the vehicle can obtain its own measurement position through the satellite positioning system in real time, and the measurement position is taken as The location of the vehicle is sent to the management device of the vehicle network. However, due to the low positioning accuracy of the satellite positioning system in the prior art, the measurement position acquired by the terminal device through the satellite positioning system is different from the actual location of the terminal device by about ten meters, so that the terminal device is measuring it. When the location is sent to the management device of the vehicle network as the location of the vehicle, the location of the vehicle acquired by the management device is not the actual location of the vehicle, and the management device cannot determine the lane where the vehicle is located according to the location of the vehicle, so that the vehicle cannot be accurately obtained. The queuing information of the vehicles in the network in each lane can not provide accurate road traffic information for the vehicles in the Internet of Vehicles. In the positioning method provided by the embodiment, the terminal device on the vehicle can correct the measurement position of the terminal device by using the correction information of the at least one reference device acquired in real time during the process of acquiring the measurement position of the device through the satellite positioning system. Obtaining the positioning position of the positioning device so that the positioning position is infinitely close to or equal to the actual location of the terminal device, so that the terminal device can send the positioning position as the location of the vehicle to the management device of the vehicle network, thereby enabling the management device of the vehicle network to Determining the lane in which the vehicle is located according to the location of the vehicle, so that the management device can obtain the queuing information of the vehicle in each lane of the vehicle in the lane according to the lane in which the vehicle is located, thereby providing accurate vehicles for the vehicle in the vehicle network. Road traffic information improves the effectiveness and accuracy of the traffic information provided by the vehicle management equipment to the vehicle.

The positioning method provided by the embodiment of the present invention enables the terminal device on the vehicle to acquire the correction information of the at least one reference device in real time during the process of acquiring the measurement location of the device by using the satellite positioning system, so that the terminal device can use the at least one Refer to the correction information of the device to correct its own measurement position to determine its own positioning position, so that the positioning position is infinitely close to or equal to the actual position of the terminal device itself, so that the terminal device can use its positioning position as the vehicle The location is sent to the management device of the car network, so that the management device of the car network can determine the lane where the vehicle is located according to the location of the vehicle, and thus can obtain the queuing information of the vehicle in each lane of the car network, thereby being able to be in the car network. The vehicle provides accurate road traffic information and improves the effectiveness and accuracy of the traffic information provided by the vehicle management equipment to the vehicle.

Further, on the basis of the foregoing embodiment, the second embodiment relates to a specific process of how the terminal device obtains the correction information of the at least one reference device.

The first type of acquisition: the terminal device acquires the correction information of the at least one reference device by receiving the correction information of each reference device sent by each reference device.

Specifically, in this embodiment, the reference device can broadcast its correction information in real time, so that when the vehicle is located within the signal coverage of one or more reference devices, the terminal device on the vehicle can receive the one or The correction information sent by the plurality of reference devices, so that the terminal device on the vehicle can obtain the correction information of the at least one reference device by using the correction information sent by the received one or more reference devices.

The second obtaining mode is: the terminal device obtains the correction information of the at least one reference device by receiving the correction information of the reference device sent by each first terminal device; wherein the correction information of the reference device sent by each first terminal device is the current Correction information of the reference device used when correcting the measurement position of the first terminal device.

Specifically, the first terminal device may be another terminal device that is located on a different vehicle from the terminal device. When the first terminal device currently corrects its own measurement location by using the correction information of a certain reference device, the first terminal device The correction information of the reference device may be sent to the terminal device located at the periphery thereof, so that the terminal device around it can acquire the correction information of the reference device. Therefore, in the embodiment, when the terminal device is blocked by the building or the environment is bad, the terminal device is not close to the reference device but cannot receive the correction information sent by the reference device. Acquiring the correction information of the at least one reference device by receiving the correction information of the reference device sent by the one or more first terminal devices in the periphery thereof, so that when the terminal device does not receive the correction information of the reference device sent by the reference device, The correction information of the reference device sent by the first terminal device can still be used to correct its own measurement position, thereby improving the efficiency of the terminal device determining the positioning position.

In another implementation manner of the present invention, the first terminal device may further correct the current measurement. The correction information of the reference device used in the location is carried in a vehicle to everything (V2X) message to the terminal device, and the first identifier may be carried in the V2X message, so that the terminal device is in the After receiving the V2X message, determining, according to the first identifier carried in the V2X message, whether the V2X message carries the correction information of the reference device, and if the V2X message is determined to carry the correction information of the reference device, the terminal device is The V2X message is further parsed to obtain the correction information of the reference device carried by the V2X message, which improves the efficiency of the terminal device acquiring the correction information of the reference device. Optionally, when the V2X message sent by the first terminal device to the terminal device does not carry the correction information of the reference device, the first terminal device may carry the second identifier in the V2X message, where the second identifier is used to The terminal device indicates that the correction information of the reference device is not carried in the V2X. In a specific implementation, the first identifier may be represented by 1, for example, the second identifier may be represented by 0, or the first identifier may be represented by 0, for example, and the second identifier may be represented by 1. The first identifier and the second identifier may be represented by the same flag.

Optionally, the foregoing first identifier may be used to indicate to the terminal device that the current location of the first terminal device is the location location, so that the terminal device may obtain the location location of the first terminal device according to the first terminal. The positioning position of the device accurately determines the distance between the device and the first terminal device, so that the terminal device can provide the user with correct driving suggestions by combining information such as the speed of the vehicle in which the terminal device is located, for example, The speed at which the terminal device maintains a safe distance, and the like. Optionally, the first terminal device may carry the location information and the correction information of the reference device used to modify the measurement location of the first terminal device in the same V2X message to the terminal device, or may be carried in different The V2X message is sent to the terminal device, which is not limited by the present invention.

The positioning method provided by the embodiment of the present invention enables the terminal device on the vehicle to acquire the correction information of the at least one reference device in real time during the process of acquiring the measurement location of the device by using the satellite positioning system, so that the terminal device can use the at least one Referring to the correction information of the device, the measurement position of the device is corrected to determine its own positioning position, so that the positioning position is infinitely close to or equal to the actual position of the terminal device itself, so that the terminal device can send its positioning position as the position of the vehicle to The management device of the vehicle network enables the management device of the vehicle network to determine the lane in which the vehicle is located according to the location of the vehicle, thereby obtaining the queuing information of the vehicle in each lane of the vehicle network, thereby providing the vehicle in the vehicle network. Accurate road traffic information improves the management of the Internet of Vehicles The effectiveness and accuracy of the traffic information provided by the equipment to the vehicle.

FIG. 2 is a schematic flowchart diagram of Embodiment 3 of a positioning method according to an embodiment of the present invention. Further, on the basis of the foregoing embodiment, the correction information of each reference device may further include a location of the reference device, where the location of the reference device may be a location of the reference device, or may be a measurement location of the reference device, Can be set according to the needs of users. In this embodiment, the correction information of each of the reference devices includes: a correction parameter, a usage range of the correction parameter, and a location of the reference device. The third embodiment relates to how the terminal device corrects the parameter according to the at least one reference device. The specific process of determining the location of the terminal device by modifying the range of use of the parameter, the location of the reference device, and the measurement location of the terminal device. As shown in FIG. 2, further, based on the foregoing embodiment, the foregoing S102 may be specifically:

S201. The terminal device determines, according to a usage range of the correction parameter of each reference device, a location of each reference device, and a measurement location of the terminal device, at least one first reference device; the terminal device is located in a use range of the correction parameter of the first reference device. Inside.

Specifically, the terminal device may determine a first distance between the reference device and each reference device according to the measurement location and the location of each reference device, and then according to the first distance and each of the reference devices. The reference range of the correction parameter of the reference device is determined as the first reference device by the reference device whose first distance is less than or equal to the use range of the correction parameter of the reference device. Wherein, the foregoing terminal device determines the first distance between the terminal device and each reference device according to the measurement location and the location of each reference device, and can refer to the prior art.

Optionally, the foregoing terminal device may further determine at least one first reference device according to a usage range of the correction parameter of each reference device, a location of each reference device, and a measurement location of the terminal device, where the present invention is This will not be repeated here.

S202. The terminal device determines, according to the correction information of the at least one first reference device and the measurement location of the terminal device, a location location of the terminal device.

Specifically, after determining the at least one first reference device, the terminal device may determine the location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device. Optionally, the terminal device may randomly select a correction parameter of the first reference device in the at least one first reference device to modify its measurement position to determine its location. Optionally, the terminal device may further select a first reference device that is closest to the first reference device, and use the correction parameter of the first reference device to correct the measurement position, so as to be Set its positioning position.

According to the positioning method provided by the embodiment of the present invention, the terminal device may use the at least one reference device according to the used range of the modified parameter in the corrected information of the at least one reference device, the location of the reference device, and the measured location of the terminal device. Precisely screening out at least one first reference device whose terminal device is within the use range of its correction parameter, so that the terminal device can correct its measurement position based on the correction parameter of the at least one first reference device, Determining its own positioning position, so that the positioning position is more infinitely close to or equal to the actual location of the terminal device itself, so that the terminal device can send its positioning position as the location of the vehicle to the management device of the vehicle network, so as to manage the vehicle network. The device can determine the lane where the vehicle is located according to the location of the vehicle, and thus can obtain the queuing information of the vehicle in each lane of the vehicle network, thereby providing accurate road traffic information for the vehicle in the vehicle network, and improving the management of the vehicle network. The communication provided by the equipment to the vehicle The validity and accuracy.

The positioning method provided by the embodiment of the present invention is described in detail in two specific examples. In the following two examples, the correction information of each reference device may include: a modified parameter, a used range of the modified parameter, The location of the reference device may also include the satellite number corresponding to the satellite used by the reference device to calculate the measurement location of the reference device. The following two examples all relate to a specific process of determining, by the terminal device, the positioning position of the terminal device according to the correction information of the at least one first reference device and the measurement position of the terminal device. Through the positioning methods provided by the following two examples, the accuracy of the positioning position determined by the terminal device can be greatly improved.

Example 1:

FIG. 3 is a schematic flowchart of Embodiment 4 of a positioning method according to an embodiment of the present invention. As shown in FIG. 3, the method may include:

S301. The terminal device determines, according to the satellite number corresponding to the satellite used when the at least one first reference device calculates the measurement position of the first reference device, whether the at least one first reference device exists and the measurement location of the terminal device is calculated. The second reference device with the same satellite number of the satellite used. If yes, execute S302, if no, execute S303.

Specifically, the terminal device may compare the satellite number corresponding to the satellite used by each first reference device to calculate the measurement position of the first reference device, and compare the satellite number corresponding to the satellite used by the terminal device to calculate the measurement position. Determining whether there is a second parameter in the at least one first reference device that is identical to the satellite number of the satellite used when the terminal device calculates its measurement position Test equipment.

S302. The terminal device determines a location location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device.

Specifically, if the terminal device determines that there is a second reference device in the at least one first reference device that has the same satellite number as the satellite used by the terminal device to calculate the measurement position, that is, only one second reference device, the foregoing The terminal device can directly correct the measurement position of the terminal device according to the correction parameter of the second reference device to determine the positioning position of the terminal device. At this time, since the satellite used by the terminal device in calculating the measurement position is the same as the satellite used when the second reference device calculates the second reference device, between the measurement position of the terminal device and the actual location of the terminal device The difference between the measurement position of the second reference device and the actual location of the second reference device is approximately the same, and therefore, the correction used by the terminal device to correct the measurement position of the second reference device The parameter is used to correct the measurement position of the terminal device, and the obtained positioning position of the terminal device is more infinitely close to the actual location of the terminal device, thereby further improving the positioning accuracy of the terminal device.

Exemplarily, it is assumed that there is only one second reference device having the same satellite number as the satellite used by the terminal device when calculating its measurement position, and the correction parameter of the second reference device is (ΔX2, ΔY2, ΔZ2), of the terminal device The measurement position is (A measurement , B measurement , C measurement ), and the positioning position of the terminal device is (A fixed , B fixed , C fixed ), then the terminal device can be based on the modified parameter of the second reference device (ΔX2, ΔY2, ΔZ2) ), measuring location of the terminal device (a test, B test, C test), and the following equation (7) - (9), determining the terminal position of the positioning device (a set, B set, C set), in particular:

A = A given measurement + ΔX2 (7)

B = B given measurement + ΔY2 (8)

C = C given measurement + ΔZ2 (9)

If the terminal device determines that there are multiple second reference devices in the at least one first reference device that have the same satellite number as the satellite used by the terminal device to calculate its measurement position, that is, multiple second reference devices exist, the terminal device The device may randomly select a second reference device among the plurality of second reference devices, and correct the measurement position of the second reference device with the correction parameter to determine its positioning position. Optionally, the terminal device may further determine, according to the location of the second reference device and the measurement location of the terminal device, the third reference device that is closest to the terminal device in the second reference device, and further, according to the modified parameter of the third reference device. And the measurement position of the terminal device to determine the terminal device The location of the reference device is closer to the terminal device, and the environment in which the reference device is located is closer to the environment in which the terminal device is located, so that the correction parameter used by the reference device to correct its own measurement position is more suitable for the terminal device. Therefore, the positioning position obtained by the terminal device using the correction parameter of the third device to correct the measurement position of the third device is more accurate, and the positioning accuracy of the terminal device is further improved.

Exemplary, assuming a third position of the reference positioning device comprising: a third predetermined position X3 longitude positioning a reference device, the reference position of the third latitude positioning device Y3 given, with reference to the height position of the third positioning device Z3 given; the third reference measuring the position of the device comprising: a measuring position X3 longitude third reference measuring device, the reference position of the third measuring latitude Y3 measuring device, measuring the height of the third reference position Z3 measuring device;

Then, the correction parameters (ΔX3, ΔY3, ΔZ3) of the third device can be determined by the following formulas (10)-(12), specifically:

ΔX3=X3 -X3 measurement (10)

ΔY3=Y3 -Y3 test (11)

ΔZ3=Z3 -Z3 measurement (12)

The terminal device determines the positioning position of the terminal device according to the correction parameter of the third reference device and the measurement position of the terminal device, and may be a measurement formula of the terminal device according to the longitude correction parameter ΔX of the third reference device and the longitude measurement position of the terminal device. (13), the positioning terminal determines longitude location a given; the terminal device according to the latitude correction parameter ΔY third reference device, the terminal device measuring the latitude measuring position B and formula (14), the positioning terminal determines the location of the latitude given B ; the height of the terminal apparatus according to the third correction parameter [Delta] Z reference device, the terminal device measuring height measurement position C and the equation (15), the height of the positioning device determined that the terminal position C set. Wherein, the above formula (13) - formula (15), specifically can be as follows:

A set = A test + ΔX (13)

B = B given measurement + ΔY (14)

C = C given measurement + ΔZ (15)

After the execution of the above S302, the process ends.

S303. The terminal device determines, according to the location of each first reference device and the measured location of the terminal device, a fourth reference device that is closest to the terminal device.

Specifically, if the terminal device calculates the satellite number corresponding to the satellite used when calculating the measurement position of the first reference device according to the at least one first reference device, determining that the at least one first reference device does not exist The second reference device having the same satellite number as the satellite used when the terminal device calculates the measurement position of the terminal device, the terminal device may first determine the first reference device according to the measurement position and the position of each first reference device. a distance between the reference devices, and according to the distance between each of the first reference devices, the first reference device having the smallest distance from the terminal device is selected as the fourth reference device, that is, the environment in which the terminal device is located is determined The closest reference device. The terminal device determines how to determine the distance between each terminal device and each of the first reference devices according to the location of the measurement and the location of each of the first reference devices.

S304. The terminal device updates the measurement position of the terminal device updated by the satellite to update the measurement position of the terminal device when the fourth reference device calculates the measurement position of the fourth reference device.

Specifically, the terminal device may select, in the list of satellite numbers locked by itself, a satellite number that is the same as the satellite number of the satellite used when the fourth reference device calculates the measurement position of the fourth reference device, and uses the satellite number corresponding to the The satellite recalculates its measurement position, that is, the satellite used to calculate the measurement position of the fourth reference device using the fourth reference device recalculates the measurement position of the terminal device to update the measurement position of the terminal device to obtain the measurement position of the terminal device update. For example, how the terminal device calculates the measurement position of the satellite update terminal device used when calculating the measurement position of the fourth reference device according to the fourth reference device. For details, refer to the prior art.

S305. The terminal device determines, according to the correction parameter of the fourth reference device and the measured location of the terminal device update, the location location of the terminal device.

Specifically, after the terminal device acquires its updated measurement location, the modified parameter of the fourth reference device may be used to correct its updated measurement location to obtain its location. At this time, since the satellite used by the terminal device in calculating its measurement position is the same as the satellite used when the fourth reference device calculates its own measurement position, the terminal device uses the fourth reference device to correct its own measurement position. The correction parameter is used to correct the measurement position of the terminal device, and the obtained positioning position of the terminal device is more infinitely close to the actual location of the terminal device, thereby further improving the positioning accuracy of the terminal device. The method for modifying the measurement location of the terminal device update according to the correction parameter of the fourth reference device may be specifically substituted into the formula shown in the foregoing Embodiment 1 S102 by the correction parameter of the modification parameter of the fourth reference device. The measurement location of the terminal device can be determined. For details, refer to the description of the foregoing Embodiment 1 S102, and details are not described herein again.

After the execution of the above S305, the process ends.

Optionally, after the foregoing S302 or S305, the method may further include: the terminal device broadcasts a V2X message corresponding to the terminal device, where the V2X message may include the first identifier and the correction information of the reference device used to correct the measurement position of the terminal device, etc., so that the terminal device located on other vehicles around the terminal device The V2X message sent by the terminal device can obtain the correction information of the reference device that is currently correcting the terminal, and can also know that the current location of the terminal device is the location and the like by using the first identifier.

Optionally, after the foregoing S302 or S305, the method may further include: determining, by the terminal device, between the terminal device and the reference device of the currently modified terminal device according to the location location of the terminal device and the location information of the reference device of the current terminal device. And determining, according to the second distance, whether the terminal device is located within the use range of the correction parameter of the reference device of the current modified terminal device, and if not, re-determining the positioning position of the terminal device.

Specifically, since the terminal device is a terminal device integrated on a vehicle or disposed on a vehicle, the terminal device is constantly moving as the vehicle travels, and therefore, the terminal device is corrected according to the correction information of a reference device. After the measurement location, the terminal device can calculate the second distance between the reference device and the reference device of the current modified terminal device in real time or periodically according to the location location of the terminal device and the location of the reference device of the current modification terminal device, thereby The terminal device can determine, according to the second distance, whether the terminal device exceeds the use range of the correction parameter of the reference device of the current modified terminal device, and further causes the terminal device to move to the use range of the correction parameter of the reference device of the current modified terminal device. In addition, the terminal device can re-determine the positioning position of the terminal device, that is, re-execute the positioning method provided by the embodiment of the present invention, so that the terminal device can correct the measurement position by using the correction information of the correct reference device, and ensure the positioning of the terminal device. Precision.

Optionally, after the step S302 or S305, the method may further include: determining, by the terminal device, the satellite number of the satellite used by the terminal device to calculate the measurement location of the terminal device, and the reference device calculation reference device of the current modified terminal device. Whether the satellite number of the satellite used when measuring the position is the same; if not, the positioning position of the terminal device is re-determined.

Specifically, as the terminal device moves, the environment around the terminal device changes, which may cause the terminal device to change the satellite number of the satellite used when calculating the measurement location of the terminal device. Therefore, the terminal device according to the certain After the correction information of the reference device corrects the measurement position, the terminal device can determine the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device in real time or periodically, and the reference device calculation reference of the currently modified terminal device. Whether the satellite numbers of the satellites used in the measurement position of the device are the same, and thus the terminal device uses the satellite number of the satellite used to calculate the measurement position and the reference device of the current modified terminal device to calculate the measurement position of the reference device. When the satellite numbers of the satellites are different, the positioning position of the terminal device can be re-determined, that is, the positioning method provided by the embodiment of the present invention is re-executed, so that the terminal device can correct the measurement position by using the correction information of the correct reference device, thereby ensuring The accuracy of terminal device positioning.

According to the positioning method provided by the embodiment of the present invention, the terminal device may use the at least one reference device according to the used range of the modified parameter in the corrected information of the at least one reference device, the location of the reference device, and the measured location of the terminal device. Precisely screening out at least one first reference device whose terminal device is within the use range of its correction parameter, so that the terminal device can use the position of each first reference device and the reference device calculates the measurement position of the reference device Satellite number of the satellite, selecting a first reference device closest to the environment in which the terminal device is located from the at least one first reference device, so that the terminal device can correct the self by using the correction parameter of the first reference device Measuring the position to determine its own positioning position, so that the positioning position is more infinitely close to or equal to the actual position of the terminal device itself, so that the terminal device can send its positioning position as the location of the vehicle to the management device of the vehicle network, so that Vehicle networking management equipment can According to the position of the vehicle, the lane where the vehicle is located is determined, and then the queuing information of the vehicle in the lane of the vehicle in the lane can be obtained, thereby providing accurate road traffic information for the vehicle in the vehicle network, and improving the management equipment of the vehicle network. The validity and accuracy of the traffic information provided by the vehicle.

Example two:

FIG. 4 is a schematic flowchart diagram of Embodiment 5 of a positioning method according to an embodiment of the present disclosure. As shown in FIG. 4, the method may include:

S401. The terminal device determines, according to the location of each first reference device and the measured location of the terminal device, a fifth reference device that is closest to the terminal device.

Specifically, the terminal device may first determine a distance between each of the first reference devices according to the measurement location and the location of each first reference device, and according to the distance between each terminal device and each of the first reference devices. The first reference device having the smallest distance from the terminal device is selected as the fifth reference device, that is, the reference device closest to the environment in which the terminal device is located is determined. Wherein, the terminal device determines how it is associated with each first reference device according to its measurement location and the location of each first reference device The distance between them can be seen in the prior art.

S402. The terminal device determines whether the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device is the same as the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device. If yes, execute S403, and if no, execute S404.

Specifically, the terminal device may compare the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device, and compare the satellite number corresponding to the satellite used by the terminal device to calculate the measurement position, to It is determined whether the satellite numbers of the satellites used in the fifth reference device are all the same as those used by the terminal device to calculate its measurement position.

S403. The terminal device determines a positioning location of the terminal device according to the correction parameter of the fifth reference device and the measurement location of the terminal device.

Specifically, if the terminal device determines that the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device is the same as the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device, the terminal device The measurement position of the terminal device can be directly corrected according to the correction parameter of the fifth reference device to determine the positioning position of the terminal device. At this time, since the satellite used by the terminal device in calculating the measurement position is the same as the satellite used when the fifth reference device calculates the fifth reference device, the measurement position of the terminal device and the actual location of the terminal device are The difference between the measurement position of the fifth reference device and the actual location of the fifth reference device is approximately the same, and therefore, the correction used by the terminal device to correct the measurement position of the user using the fifth reference device The parameter is used to correct the measurement position of the terminal device, and the obtained positioning position of the terminal device is more infinitely close to the actual location of the terminal device, thereby further improving the positioning accuracy of the terminal device. For example, how to modify the measurement location of the terminal device according to the modified parameter of the fifth reference device. For details, refer to the description of the foregoing Embodiment 1 S102, and details are not described herein again.

After the above S403 is executed, it ends.

S404. The terminal device updates the measurement position of the satellite update terminal device used when calculating the measurement position of the fifth reference device according to the fifth reference device, obtains the measurement location updated by the terminal device, and updates according to the correction parameter of the fifth reference device and the terminal device. The measurement position determines the positioning position of the terminal device.

Specifically, if the terminal device determines that the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device is different from the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device, the terminal The device can be in the list of satellite numbers that it is locked to, Selecting the same satellite number as the satellite number of the satellite used when calculating the measurement position of the fifth reference device by the fifth reference device, and recalculating the measurement position using the satellite corresponding to the satellite number, that is, calculating the fifth using the fifth reference device Referring to the measurement position of the measuring device of the device, the measurement position of the terminal device is recalculated to update the measurement position of the terminal device, and the measurement position of the terminal device update is obtained, so that the terminal device can correct the correction parameter of the fifth reference device. Its updated measurement position to get its position. At this time, since the satellite used by the terminal device in calculating its measurement position is the same as the satellite used when the fifth reference device calculates its own measurement position, the terminal device uses the fifth reference device to correct its own measurement position. The correction parameter is used to correct the measurement position of the terminal device, and the obtained positioning position of the terminal device is more infinitely close to the actual location of the terminal device, thereby further improving the positioning accuracy of the terminal device. For example, how the terminal device calculates the measurement position of the satellite update terminal device used when calculating the measurement position of the fifth reference device according to the fifth reference device. For details, refer to the prior art, how the terminal corrects the terminal according to the modified parameter of the fifth reference device. For the measurement location of the device, refer to the description of the foregoing Embodiment 1 S102, and details are not described herein again.

After the above S404 is completed, it ends.

Optionally, after the step S403 or S404, the method may further include: the terminal device broadcasts the V2X message corresponding to the terminal device, where the V2X message may include the first identifier and when the measurement location of the terminal device is currently corrected. The correction information of the reference device used, etc., so that the terminal device located on the other vehicle around the terminal device can obtain the correction information of the reference device that currently corrects the terminal through the V2X message sent by the terminal device, and can also pass the The first identifier knows that the current location of the terminal device is a location location or the like.

Optionally, after the step S403 or S404, the method may further include: determining, by the terminal device, the reference of the terminal device and the current modified terminal device according to the location location of the terminal device and the location information of the reference device of the current terminal device. The second distance between the devices, and determining, according to the second distance, whether the terminal device is located within the use range of the correction parameter of the reference device of the current modified terminal device, and if not, re-determining the positioning position of the terminal device. For a detailed description of the step, refer to the foregoing example 1. The technical solution and the technical effect are similar, and the present invention will not be described again.

Optionally, after the step S403 or S404, the method may further include: determining, by the terminal device, the satellite number of the satellite used by the terminal device to calculate the measurement location of the terminal device, and the reference device calculation reference device of the currently modified terminal device Satellite of the satellite used to measure the position Whether the numbers are the same; if not, the positioning position of the terminal device is re-determined. For a detailed description of the step, refer to the foregoing example 1. The technical solution and the technical effect are similar, and the present invention will not be described again.

According to the positioning method provided by the embodiment of the present invention, the terminal device may use the at least one reference device according to the used range of the modified parameter in the corrected information of the at least one reference device, the location of the reference device, and the measured location of the terminal device. Precisely screening out at least one first reference device whose terminal device is within the use range of its correction parameter, so that the terminal device can use the position of each first reference device and the reference device calculates the measurement position of the reference device Satellite number of the satellite, selecting a first reference device closest to the environment in which the terminal device is located from the at least one first reference device, so that the terminal device can correct the self by using the correction parameter of the first reference device Measuring the position to determine its own positioning position, so that the positioning position is more infinitely close to or equal to the actual position of the terminal device itself, so that the terminal device can send its positioning position as the location of the vehicle to the management device of the vehicle network, so that Vehicle networking management equipment can According to the position of the vehicle, the lane where the vehicle is located is determined, and then the queuing information of the vehicle in the lane of the vehicle in the lane can be obtained, thereby providing accurate road traffic information for the vehicle in the vehicle network, and improving the management equipment of the vehicle network. The validity and accuracy of the traffic information provided by the vehicle.

One of ordinary skill in the art will appreciate that all or part of the steps to implement the various method embodiments described above may be accomplished by hardware associated with the program instructions. The aforementioned program can be stored in a computer readable storage medium. The program, when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

FIG. 5 is a schematic structural diagram of Embodiment 1 of a positioning apparatus according to an embodiment of the present invention. As shown in FIG. 5, the positioning apparatus may be implemented as part or all of a terminal device by software, hardware, or a combination of the two. The method includes: a receiving module 11 and a determining module 12; wherein

The obtaining module 11 is configured to acquire correction information of the at least one reference device, where the correction information of each reference device includes a correction parameter used by the terminal device to modify the measurement position of the terminal device, and a use range of the correction parameter; wherein the correction parameter is to be referenced The measurement position of the device is corrected to the parameter of the positioning position of the reference device;

a determining module 12, configured to modify the at least one reference device obtained by the obtaining module 11 The measurement location of the information device and the terminal device determines the location of the terminal device.

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

FIG. 6 is a schematic structural diagram of Embodiment 2 of a positioning apparatus according to an embodiment of the present invention. As shown in FIG. 6 , further, based on the foregoing embodiment, the correction information of each reference device may further include each reference device. The location of the reference device is the location of the reference device or the measurement location of the reference device, and the determining module may include:

a first determining unit 121, configured to determine, according to a usage range of the correction parameter of each reference device, a location of each reference device, and a measurement location of the terminal device, the at least one first reference device; the correction of the terminal device in the first reference device The range of parameters used. Optionally, the first determining unit 121 may determine, according to the measurement location of the terminal device and the location of each reference device, a first distance between the terminal device and each reference device, and according to the terminal device and each reference device. The first distance between and the use range of the correction parameter of each reference device determines a reference device whose first distance between the terminal device is less than or equal to the use range of the correction parameter of the reference device as the first reference device.

The second determining unit 122 is configured to determine a positioning location of the terminal device according to the correction information of the at least one first reference device determined by the first determining unit 121 and the measurement location of the terminal device.

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

When the correction information of each of the reference devices may further include a satellite number corresponding to the satellite used by each reference device to calculate the measurement position of the reference device, in an implementation manner of the present invention, the second determining unit 122, Specifically, it may be used to determine, according to the satellite number corresponding to the satellite used when the measurement position of the first reference device is calculated by the at least one first reference device, whether the at least one first reference device has a measurement position with the terminal device computing terminal device. a second reference device having the same satellite number of the satellite used, and determining that the second reference device having the same satellite number as the satellite used when the terminal device calculates the measurement position of the terminal device exists in the at least one first reference device, according to The correction information of the second reference device and the measurement position of the terminal device determine the positioning position of the terminal device.

If the at least one first reference device has a plurality of second reference devices having the same satellite number as the satellite used when the terminal device calculates the measurement location of the terminal device, then the second determination is performed. The unit 122 is configured to determine the location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device, where the second reference device may be determined according to the location of the second reference device and the measurement location of the terminal device. The third reference device closest to the intermediate distance terminal device determines the positioning position of the terminal device according to the correction parameter of the third reference device and the measurement position of the terminal device.

The positioning position of the third reference device includes: the longitude positioning position X3 of the third reference device, the latitude positioning position Y3 of the third reference device, the height positioning position Z3 of the third reference device, and the measurement position of the third reference device. comprising: measuring a height position of the measuring position X3 Z3 measured longitude third reference measuring device, measuring the position Y3 latitude measuring apparatus of the third reference, a third reference apparatus; correction parameter third device comprising: a fixed according ΔX3 = X3 -X3 ΔX3 longitude correction parameter determined by the third reference sensing device, according to the third reference latitude correction parameter ΔY3 device ΔY3 = Y3 -Y3 given test determined the height correction apparatus according to a third reference ΔZ3 = Z3 determined given the measured -Z3 measuring the position parameter ΔZ3, the terminal device comprising: a position location height measurement position C measuring terminal apparatus longitude measurement position a measuring terminal apparatus latitude measuring position B test, the terminal device, the terminal device comprising: a longitude of the terminal device The positioning position A is determined , the latitude positioning position B of the terminal device is determined , and the height positioning position C of the terminal device is determined as an example, and the second determining unit 1 is 22, configured to determine a positioning location of the terminal device according to the correction parameter of the third reference device and the measurement location of the terminal device, specifically:

The second determining unit 122, can be specifically measured according to the longitude Lon correction parameter ΔX3, the terminal device A third reference position measuring device, and A = A given measurement + ΔX3, the positioning terminal determines longitude given location A; The first correction parameter latitude three reference devices ΔY3, latitude measuring terminal device location measurement B = B and B given measuring + ΔY3, determining position location latitude given terminal apparatus B; height correction parameter according to the third reference device ΔZ3, the terminal device measuring height measurement position C = C and C given measuring + ΔZ3, to determine the height position of the positioning terminal C fixed.

If the at least one first reference device does not have a second reference device with the same satellite number as the satellite used by the terminal device to calculate the measurement position of the terminal device, the second determining unit 122 is configured to perform, according to the at least one first The correction information of the reference device and the measurement location of the terminal device determine the location of the terminal device, which may be:

The second determining unit 122 is configured to determine, according to the location of each first reference device and the measurement location of the terminal device, a fourth reference device that is closest to the terminal device, and calculate a measurement location of the fourth reference device according to the fourth reference device. The satellite used to update the measurement position of the terminal device, obtain the measurement position updated by the terminal device, and update according to the correction parameter of the fourth reference device and the terminal device The measurement position determines the positioning position of the terminal device.

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

When the correction information of each of the reference devices may further include a satellite number corresponding to the satellite used by each reference device to calculate the measurement position of the reference device, in another implementation manner of the present invention, the second determining unit 122, And determining, according to the correction information of the at least one first reference device and the measurement location of the terminal device, the location location of the terminal device, which may be:

The second determining unit 122 is configured to determine, according to the location of each first reference device and the measurement location of the terminal device, a fifth reference device that is closest to the terminal device, and determine that the fifth reference device calculates the measurement location of the fifth reference device. Whether the satellite number corresponding to the satellite used is the same as the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device;

Determining according to the fifth reference device when determining that the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device The parameter and the measurement position of the terminal device determine the positioning position of the terminal device;

When determining that the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device is different from the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device, calculating according to the fifth reference device The measurement position of the satellite update terminal device used when measuring the position of the fifth reference device obtains the measurement position updated by the terminal device, and determines the positioning position of the terminal device according to the correction parameter of the fifth reference device and the measurement position updated by the terminal device. .

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

Optionally, the obtaining module 11 is specifically configured to receive, by each of the reference devices, the correction information of each reference device, to obtain the correction information of the at least one reference device;

Alternatively, the obtaining module 11 may be configured to receive the correction information of the reference device sent by each first terminal device to obtain the correction information of the at least one reference device; the correction information of the reference device sent by each first terminal device is Correction information of the reference device currently used when correcting the measurement position of the first terminal device. In a specific implementation, the acquiring module 11 may be specifically configured to receive a vehicle-to-V2X message sent by each first terminal device, and parse the V2X message according to the first identifier to obtain correction information of the reference device; the V2X message carries the first Repair of a logo and reference device The positive information is used to indicate to the terminal device that the correction information of the reference device is carried in the V2X message. Optionally, the foregoing first identifier may be used to indicate to the terminal device that the current location of the first terminal device is the location location.

FIG. 7 is a schematic structural diagram of Embodiment 3 of a positioning apparatus according to an embodiment of the present invention. As shown in FIG. 7, further, based on the foregoing embodiment, the apparatus may further include:

The broadcast module 13 is configured to determine, by the module 12, the V2X message corresponding to the broadcast terminal device after determining the location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device.

Optionally, the determining module 12 is further configured to: after determining the positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, according to the positioning location of the terminal device and the current reference of the terminal device Positioning the device, determining a second distance between the terminal device and the reference device of the currently modified terminal device, and determining, according to the second distance, whether the terminal device is located within a use range of the correction parameter of the reference device of the currently modified terminal device, determining the terminal When the device exceeds the current use range of the correction parameter of the reference device of the terminal device, the positioning position of the terminal device is re-determined.

Optionally, the determining module 12 is further configured to determine, after determining the positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, the terminal device is used to calculate the measurement location of the terminal device. The satellite number of the satellite and the satellite number of the satellite used by the reference device of the current modified terminal device to calculate the measurement position of the reference device are the same, and the satellite number and current of the satellite used when determining the measurement position of the terminal device by the terminal device When the reference device of the terminal device calculates the measurement position of the reference device and the satellite numbers of the satellites used are different, the positioning position of the terminal device is re-determined.

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

FIG. 8 is a schematic structural diagram of Embodiment 4 of a positioning apparatus according to an embodiment of the present invention. As shown in FIG. 8, the positioning apparatus may include: a processor 21 (for example, a CPU). The positioning device according to the embodiment of the present invention may further include a power source 22, a memory 23, a communication bus 24, and a communication port 25. Communication bus 24 is used to implement a communication connection between the components. The memory 23 may include a high speed RAM memory, and may also include a nonvolatile memory NVM, such as at least one disk memory, in which various programs may be stored for performing various processing functions and implementing the method of the present embodiment. step. The communication port 25 is used to implement connection communication between the terminal device and other peripheral devices.

The processor 21 may be configured to acquire the correction information of the at least one reference device, and determine the positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device; the correction information of each reference device includes The terminal device corrects the correction parameter of the measurement position of the terminal device and the use range of the correction parameter; wherein the correction parameter is a parameter that corrects the measurement position of the reference device to the positioning position of the reference device.

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

Further, based on the foregoing embodiment, the correction information of each reference device further includes a location of each reference device; the location of the reference device is a positioning location of the reference device or a measurement location of the reference device.

The processor 21 is configured to determine the location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, where specifically:

The processor 21 is specifically configured to determine, according to a usage range of the correction parameter of each reference device, a location of each reference device, and a measurement location of the terminal device, the at least one first reference device, and according to the at least one first reference device The correction information and the measurement position of the terminal device determine the positioning position of the terminal device; the terminal device is located within the use range of the correction parameter of the first reference device.

In a specific implementation, the processor 21 is configured to determine, according to a usage range of the correction parameter of each reference device, a location of each reference device, and a measurement location of the terminal device, the at least one first reference device, specifically: the processor 21, specifically, may be configured to determine, according to the measurement location of the terminal device and the location of each reference device, a first distance between the terminal device and each reference device, and according to a first distance between the terminal device and each reference device And a reference range of the correction parameter of each reference device, the reference device with the first distance between the terminal device being less than or equal to the use range of the correction parameter of the reference device is determined as the first reference device.

When the correction information of each of the reference devices further includes a satellite number corresponding to the satellite used by each reference device to calculate the measurement position of the reference device, in an implementation manner of the present invention, the processor 21 is configured to Determining the location of the terminal device by using the correction information of the at least one first reference device and the measurement location of the terminal device, which may be:

The processor 21 is specifically configured to determine, according to the satellite number corresponding to the satellite used when the measurement position of the first reference device is calculated by the at least one first reference device, to determine the at least one first reference device. Is there a second reference device having the same satellite number as the satellite used when the terminal device calculates the measurement position of the terminal device, and is used in the at least one first reference device when the terminal device calculates the measurement position of the terminal device When the satellite number of the satellite is the same as the second reference device, the positioning position of the terminal device is determined according to the correction information of the second reference device and the measurement position of the terminal device.

If the at least one first reference device has a plurality of second reference devices having the same satellite number as the satellite used by the terminal device to calculate the measurement position of the terminal device, the processor 21 is configured to be used according to the second reference device. Correcting the measurement position of the information and the terminal device, and determining the positioning position of the terminal device, specifically:

The processor 21 is specifically configured to determine, according to the location of the second reference device and the measurement location of the terminal device, a third reference device that is closest to the terminal device in the second reference device, and according to the modified parameter and the terminal of the third reference device The measurement position of the device determines the positioning position of the terminal device.

The positioning position of the third reference device includes: the longitude positioning position X3 of the third reference device, the latitude positioning position Y3 of the third reference device, the height positioning position Z3 of the third reference device, and the measurement position of the third reference device. comprising: measuring a height position of the measuring position X3 Z3 measured longitude third reference measuring device, measuring the position Y3 latitude measuring apparatus of the third reference, a third reference apparatus; correction parameter third device comprising: a fixed according ΔX3 = X3 -X3 ΔX3 longitude correction parameter determined by the third reference sensing device, according to the third reference latitude correction parameter ΔY3 device ΔY3 = Y3 -Y3 given test determined the height correction apparatus according to a third reference ΔZ3 = Z3 determined given the measured -Z3 The parameter ΔZ3; the measurement position of the terminal device includes: the longitude measurement position A of the terminal device, the latitude measurement position B of the terminal device, the height measurement position C of the terminal device; the positioning position of the terminal device includes: the longitude position of the terminal device C a predetermined height position location, the terminal device positioning latitude predetermined position B, the terminal device given as an example, the above-described processor 21 according to the first Measuring the position of the reference device and the correction parameter of the terminal device, the terminal determines the position of the positioning device may specifically be:

Said processor 21 may be specifically configured according to the third reference longitude measurement apparatus longitude correction parameter ΔX3, the terminal device A and the measurement position A = A given measurement + ΔX3, the positioning terminal determines longitude given location A; According to a third Lat correction parameter ΔY3 reference device, the terminal device measuring the latitude measurement position B, and B = B given test + ΔY3, determining position location latitude given terminal apparatus B; height based on the height correction parameter ΔZ3 third reference device, the terminal device measured measurement position C = C and C given measuring + ΔZ3, to determine the height position of the positioning terminal C fixed.

If the at least one first reference device does not have a second reference device with the same satellite number as the satellite used by the terminal device to calculate the measurement position of the terminal device, the processor 21 is configured to use the at least one first reference device. The correction information and the measurement position of the terminal device determine the positioning position of the terminal device, which may be:

The processor 21 is specifically configured to determine, according to the location of each first reference device and the measurement location of the terminal device, a fourth reference device that is closest to the terminal device, and calculate a measurement location of the fourth reference device according to the fourth reference device. The used satellite updates the measurement position of the terminal device, obtains the measurement position updated by the terminal device, and determines the positioning position of the terminal device according to the correction parameter of the fourth reference device and the measurement position updated by the terminal device.

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

When the correction information of each of the reference devices further includes a satellite number corresponding to the satellite used by each reference device to calculate the measurement position of the reference device, in another implementation manner of the present invention, the processor 21 is configured to: Determining a positioning position of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, specifically:

The processor 21 is specifically configured to determine, according to the location of each first reference device and the measurement location of the terminal device, a fifth reference device that is closest to the terminal device, and determine that the fifth reference device calculates the measurement location of the fifth reference device. Whether the satellite number corresponding to the satellite used at the time is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device;

Determining according to the fifth reference device when determining that the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device The parameter and the measurement position of the terminal device determine the positioning position of the terminal device;

When determining that the satellite number corresponding to the satellite used by the fifth reference device to calculate the measurement position of the fifth reference device is different from the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device, calculating according to the fifth reference device The measurement position of the satellite update terminal device used when measuring the position of the fifth reference device obtains the measurement position updated by the terminal device, and determines the positioning position of the terminal device according to the correction parameter of the fifth reference device and the measurement position updated by the terminal device. .

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

Figure 9 is a schematic structural diagram of a fifth embodiment of a positioning device according to an embodiment of the present invention, as shown in Figure 9, further, based on the above embodiment, the device may further include: a receiver 26;

The processor 21 is configured to obtain the correction information of the at least one reference device, which may be specifically:

The processor 21 is specifically configured to receive, by the receiver 26, the correction information of each reference device sent by each reference device to obtain the correction information of the at least one reference device.

or,

The processor 21 is specifically configured to receive, by the receiver 26, the correction information of the reference device sent by each first terminal device to obtain the correction information of the at least one reference device; the correction of the reference device sent by each first terminal device The information is correction information of the reference device currently used when correcting the measurement position of the first terminal device. Optionally, the processor 21 is configured to receive, by the receiver 26, the correction information of the reference device that is sent by each of the first terminal devices, where the processor 21 is specifically configured to receive each of the The vehicle sends a V2X message to the terminal device, and the V2X message is parsed according to the first identifier to obtain the correction information of the reference device. The V2X message carries the first identifier and the correction information of the reference device, where the first identifier is used for the terminal device. Indicates that the V2X message carries the correction information of the reference device. The first identifier may be used to indicate to the terminal device that the current location of the first terminal device is the location location.

Continuing to refer to FIG. 9 above, optionally, the foregoing apparatus may further include: a transmitter 27;

The transmitter 27 is configured to: after the processor 21 determines the location location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, the V2X message corresponding to the broadcast terminal device.

Optionally, the processor 21 is further configured to: after determining the location location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, according to the location location of the terminal device and the current reference of the terminal device Positioning the device, determining a second distance between the terminal device and the reference device of the currently modified terminal device, and determining, according to the second distance, whether the terminal device is located within a use range of the correction parameter of the reference device of the currently modified terminal device, determining the terminal When the device exceeds the current use range of the correction parameter of the reference device of the terminal device, the positioning position of the terminal device is re-determined.

Optionally, the processor 21 is further configured to: after determining the location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, determine, when determining, by the terminal device, the measurement location of the terminal device Satellite satellite number and the current modified terminal equipment Whether the satellite number of the satellite used by the test device calculates the measurement position of the reference device is the same, and the satellite number of the satellite used when determining the measurement position of the terminal device by the terminal device and the reference device calculation reference device of the current modified terminal device are measured. When the satellite numbers of the satellites used in the location are different, the positioning position of the terminal device is re-determined.

The positioning device provided by the embodiment of the present invention can perform the foregoing method embodiments, and the implementation principle and technical effects are similar, and details are not described herein again.

As described in the foregoing embodiment, the terminal device in the embodiment of the present invention may be a wireless terminal such as a mobile phone or a tablet computer. Therefore, the terminal device is used as a mobile phone as an example: FIG. 10 is a schematic diagram of the terminal device being a mobile phone according to an embodiment of the present invention. Structure diagram. Referring to FIG. 10, the mobile phone may include: a radio frequency (RF) circuit 1110, a memory 1120, an input unit 1130, a display unit 1140, a sensor 1150, an audio circuit 1160, a wireless fidelity (WiFi) module 1170, and processing. Device 1180, and power supply 1190 and other components. It will be understood by those skilled in the art that the structure of the handset shown in FIG. 10 does not constitute a limitation to the handset, and may include more or less components than those illustrated, or some components may be combined, or different component arrangements.

The following describes the components of the mobile phone in detail with reference to FIG. 10:

The RF circuit 1110 can be used for receiving and transmitting signals during the transmission or reception of information or during a call. Specifically, after receiving the downlink information of the base station, the processing is performed by the processor 1180. In addition, the uplink data is sent to the base station. Generally, RF circuits include, but are not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a Low Noise Amplifier (LNA), a duplexer, and the like. In addition, RF circuitry 1110 can also communicate with the network and other devices via wireless communication. The above wireless communication may use any communication standard or protocol, including but not limited to Global System of Mobile communication (GSM), General Packet Radio Service (GPRS), Code Division Multiple Access (Code Division). Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), e-mail, Short Messaging Service (SMS), and the like.

The memory 1120 can be used to store software programs and modules, and the processor 1180 executes various functional applications and data processing of the mobile phone by running software programs and modules stored in the memory 1120. The memory 1120 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function (such as a sound playing function, an image) The playback function area, etc.; the storage data area can store data (such as audio data, phone book, etc.) created according to the use of the mobile phone. Moreover, memory 1120 can include high speed random access memory, and can also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The input unit 1130 can be configured to receive input numeric or character information and to generate key signal inputs related to user settings and function controls of the handset. Specifically, the input unit 1130 may include a touch panel 1131 and other input devices 1132. The touch panel 1131, also referred to as a touch screen, can collect touch operations on or near the user (such as the user using a finger, a stylus, or the like on the touch panel 1131 or near the touch panel 1131. Operation), and drive the corresponding connecting device according to a preset program. Optionally, the touch panel 1131 may include two parts: a touch detection device and a touch controller. Wherein, the touch detection device detects the touch orientation of the user, and detects a signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts the touch information into contact coordinates, and sends the touch information. The processor 1180 is provided and can receive commands from the processor 1180 and execute them. In addition, the touch panel 1131 can be implemented in various types such as resistive, capacitive, infrared, and surface acoustic waves. In addition to the touch panel 1131, the input unit 1130 may also include other input devices 1132. Specifically, other input devices 1132 may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, joysticks, and the like.

The display unit 1140 can be used to display information input by the user or information provided to the user as well as various menus of the mobile phone. The display unit 1140 may include a display panel 1141. Alternatively, the display panel 1141 may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like. Further, the touch panel 1131 can be overlaid on the display panel 1141. When the touch panel 1131 detects a touch operation thereon or nearby, the touch panel 1131 transmits to the processor 1180 to determine the type of the touch event, and then the processor 1180 is The type of touch event provides a corresponding visual output on display panel 1141. Although the touch panel 1131 and the display panel 1141 are used as two independent components to implement the input and input functions of the mobile phone in FIG. 10, in some embodiments, the touch panel 1131 and the display panel 1141 may be integrated. Realize the input and output functions of the phone.

The handset may also include at least one type of sensor 1150, such as a light sensor, motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor, wherein the ring The ambient light sensor can adjust the brightness of the display panel 1141 according to the brightness of the ambient light, and the light sensor can close the display panel 1141 and/or the backlight when the mobile phone moves to the ear. As a kind of motion sensor, the acceleration sensor can detect the acceleration of each direction (usually three axes). When it is still, it can detect the magnitude and direction of gravity. It can be used to identify the gesture of the mobile phone (such as horizontal and vertical screen switching, related games). , magnetometer attitude calibration), vibration recognition related functions (such as pedometer, tapping), etc.; as the mobile phone can also be configured with gyroscopes, barometers, hygrometers, thermometers, infrared sensors and other sensors, no longer repeat .

Audio circuitry 1160, speaker 1161, and microphone 1162 can provide an audio interface between the user and the handset. The audio circuit 1160 can transmit the converted electrical data of the received audio data to the speaker 1161, and convert it into a sound signal output by the speaker 1161; on the other hand, the microphone 1162 converts the collected sound signal into an electrical signal, and the audio circuit 1160 After receiving, it is converted into audio data, and then processed by the audio data output processor 1180, transmitted to the other mobile phone via the RF circuit 1110, or outputted to the memory 1120 for further processing.

WiFi is a short-range wireless transmission technology. The mobile phone can help users to send and receive emails, browse web pages and access streaming media through the WiFi module 1170, which provides users with wireless broadband Internet access. Although FIG. 10 shows the WiFi module 1170, it can be understood that it does not belong to the essential configuration of the mobile phone, and may be omitted as needed within the scope of not changing the essence of the invention.

The processor 1180 is a control center for the handset, which connects various portions of the entire handset using various interfaces and lines, by executing or executing software programs and/or modules stored in the memory 1120, and invoking data stored in the memory 1120, The phone's various functions and processing data, so that the overall monitoring of the phone. Optionally, the processor 1180 may include one or more processing units; preferably, the processor 1180 may integrate an application processor and a modem processor, where the application processor mainly processes an operating system, a user interface, an application, and the like. The modem processor primarily handles wireless communications. It will be appreciated that the above described modem processor may also not be integrated into the processor 1180.

The handset also includes a power source 1190 (such as a battery) that powers the various components. Preferably, the power source can be logically coupled to the processor 1180 via a power management system to manage functions such as charging, discharging, and power management through the power management system.

The mobile phone can also include a camera 1200, which can be a front camera or a rear camera. Although not shown, the mobile phone may further include a Bluetooth module, a GPS module, and the like, and details are not described herein again.

In the embodiment of the present invention, the processor 1180 included in the mobile phone may be used to perform the foregoing positioning method embodiment, and the implementation principle and technical effects are similar, and details are not described herein again.

Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, and are not intended to be limiting; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that Modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be equivalently replaced. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims (54)

  1. A positioning method, characterized in that the method comprises:
    The terminal device acquires correction information of the at least one reference device, and the correction information of each of the reference devices includes a correction parameter for the terminal device to correct the measurement position of the terminal device, and a use range of the correction parameter; The correction parameter is a parameter that corrects the measurement position of the reference device to the positioning position of the reference device;
    The terminal device determines a positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device.
  2. The method according to claim 1, wherein the correction information of each of the reference devices further includes a location of each of the reference devices; the location of the reference device is a location of the reference device or the location Refer to the measurement location of the device.
  3. The method according to claim 2, wherein the determining, by the terminal device, the positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, specifically comprising:
    Determining, by the terminal device, at least one first reference device according to a usage range of the correction parameter of each of the reference devices, a location of each of the reference devices, and a measurement location of the terminal device; the terminal device is located in the The use range of the correction parameter of the first reference device;
    The terminal device determines a positioning location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device.
  4. The method according to claim 3, wherein the terminal device determines at least the use range of the correction parameter of each of the reference devices, the location of each of the reference devices, and the measured position of the terminal device. A first reference device specifically includes:
    Determining, by the terminal device, a first distance between the terminal device and each of the reference devices according to a measurement location of the terminal device and a location of each of the reference devices;
    Determining, by the terminal device, a first distance from the terminal device that is less than or equal to a first distance between the terminal device and each of the reference devices and a use range of a correction parameter of each of the reference devices The reference device of the use range of the correction parameter of the reference device is determined as the first reference device.
  5. The method according to claim 3 or 4, wherein the correction information of each of the reference devices further comprises the use of each of the reference devices when calculating the measurement position of the reference device The satellite number corresponding to the satellite.
  6. The method according to claim 5, wherein the determining, by the terminal device, the positioning location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, specifically comprising:
    Determining, by the terminal device, the presence or absence of the terminal device in the at least one first reference device, according to the satellite number corresponding to the satellite used by the at least one first reference device to calculate the measurement location of the first reference device a second reference device having the same satellite number of the satellite used when calculating the measurement position of the terminal device;
    If yes, the terminal device determines the location location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device.
  7. The method according to claim 6, wherein the second reference device is multiple;
    Determining, by the terminal device, the positioning location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device, specifically:
    Determining, by the terminal device, a third reference device that is closest to the terminal device in the second reference device according to the location of the second reference device and the measurement location of the terminal device;
    The terminal device determines a positioning location of the terminal device according to the correction parameter of the third reference device and the measurement location of the terminal device.
  8. The method according to claim 7, wherein the third reference position of the positioning device comprising: a reference position of the third longitude positioning device set X3, the latitudinal position of the third positioning device Y3 fixed reference, The height positioning position Z3 of the third reference device is determined ;
    The third reference position measuring apparatus comprising: measuring the height measuring position X3 longitude third reference sensing device, the third reference latitude measuring device measuring the position Y3, the third reference position Z3 measuring device;
    Then the correction parameter third device comprising: determining according to said predetermined ΔX3 = X3 -X3 correction parameter measured longitude third reference device ΔX3, determined according to the given -Y3 ΔY3 = Y3 third reference sensing device Lat correction parameter ΔY3, determined according to the predetermined ΔZ3 = Z3 -Z3 measured height correction parameter ΔZ3 third reference device.
  9. The method according to claim 8, wherein the measurement position of the terminal apparatus comprising: measuring the position A measured longitude terminal device, the terminal device measuring the position B detected latitude, the height of the terminal device Measuring position C measurement ;
    Position location of the terminal device comprises: the longitude of the position of the positioning terminal device A set of the terminal positioning device latitude predetermined position B, the height of the terminal positioning device fixed position C;
    And determining, by the terminal device, the location of the terminal device according to the modified parameter of the third reference device and the measurement location of the terminal device, specifically:
    The terminal apparatus according to the longitude correcting the third reference device parameters ΔX3, the longitude of the terminal device measured measurement position A and A = A given measurement + ΔX3, determining the position of the positioning terminal device A predetermined longitude;
    The terminal apparatus according to the latitude correcting the third reference device parameters ΔY3, the terminal latitude measuring device measuring the position B and B = B given measuring + ΔY3, determining the position of the positioning terminal apparatus B given latitude;
    The terminal apparatus according to the height of the third reference correction parameter ΔZ3 apparatus, the terminal height measuring device measuring the position C = C and C given measuring + ΔZ3, to determine the height position of the positioning terminal C of the given device.
  10. The method according to claim 6, wherein if there is no second satellite number in the at least one first reference device that is the same as the satellite number used by the terminal device to calculate the measurement location of the terminal device And determining, by the terminal device, the positioning location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, further comprising:
    Determining, by the terminal device, a fourth reference device that is closest to the terminal device according to a location of each of the first reference device and a measurement location of the terminal device;
    The terminal device updates a measurement position of the terminal device according to a satellite used by the fourth reference device to calculate a measurement position of the fourth reference device, to obtain a measurement position updated by the terminal device;
    The terminal device determines a positioning location of the terminal device according to the correction parameter of the fourth reference device and the measurement location updated by the terminal device.
  11. The method according to claim 5, wherein the determining, by the terminal device, the positioning location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, specifically comprising:
    Determining, by the terminal device, a fifth reference device that is closest to the terminal device according to a location of each of the first reference device and a measurement location of the terminal device;
    Determining, by the terminal device, whether a satellite number corresponding to a satellite used by the fifth reference device to calculate a measurement position of the fifth reference device and a satellite used by the terminal device to calculate a measurement position of the terminal device The satellite numbers are the same;
    If yes, the terminal device determines a positioning location of the terminal device according to the correction parameter of the fifth reference device and the measurement location of the terminal device;
    If not, the terminal device updates the measurement location of the terminal device according to the satellite used by the fifth reference device to calculate the measurement location of the fifth reference device, and obtains the measurement location updated by the terminal device, and Determining a positioning position of the terminal device according to the correction parameter of the fifth reference device and the measurement position updated by the terminal device.
  12. The method according to any one of claims 1 to 11, wherein the acquiring, by the terminal device, the correction information of the at least one reference device comprises:
    The terminal device receives correction information of each reference device sent by each reference device to obtain correction information of the at least one reference device.
  13. The method according to any one of claims 1 to 11, wherein the acquiring, by the terminal device, the correction information of the at least one reference device comprises:
    The terminal device receives the correction information of the reference device sent by each first terminal device to obtain the correction information of the at least one reference device; the correction information of the reference device sent by each of the first terminal devices is the current correction The correction information of the reference device used when measuring the position of the first terminal device.
  14. The method according to claim 13, wherein the terminal device receives the correction information of the reference device that is sent by each of the first terminal devices, and specifically includes:
    The terminal device receives a vehicle-to-V2X message sent by each of the first terminal devices, where the V2X message carries the first identifier and the correction information of the reference device, where the first identifier is used to indicate to the terminal device The V2X message carries the correction information of the reference device;
    The terminal device parses the V2X message according to the first identifier to obtain correction information of the reference device.
  15. The method according to claim 14, wherein the first identifier is further configured to indicate to the terminal device that a current location of the first terminal device is a location location.
  16. The method according to any one of claims 13 to 15, wherein the terminal device determines the positioning position of the terminal device according to the correction information of the at least one first reference device and the measurement position of the terminal device. The method further includes:
    The terminal device broadcasts a V2X message corresponding to the terminal device.
  17. Method according to any of claims 1-16, characterized in that the terminal device After determining the location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, the method further includes:
    Determining, by the terminal device, a second distance between the terminal device and a reference device that currently corrects the terminal device according to the location location of the terminal device and the current location of the reference device of the terminal device;
    Determining, according to the second distance, whether the terminal device is located within a use range of a correction parameter of a reference device that currently corrects the terminal device;
    If not, the positioning position of the terminal device is re-determined.
  18. The method according to any one of claims 1 to 16, wherein the terminal device determines the positioning position of the terminal device according to the correction information of the at least one reference device and the measurement position of the terminal device. The method further includes:
    Determining, by the terminal device, a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device, and a satellite of a satellite used when the reference device of the terminal device currently corrects the measurement position of the reference device Whether the numbers are the same;
    If not, the positioning position of the terminal device is re-determined.
  19. A positioning device, characterized in that the device comprises:
    An obtaining module, configured to acquire correction information of the at least one reference device, where the correction information of each of the reference devices includes a correction parameter for the terminal device to correct the measurement position of the terminal device, and a usage range of the correction parameter; The correction parameter is a parameter that corrects a measurement position of the reference device to a positioning position of the reference device;
    a determining module, configured to determine a positioning location of the terminal device according to the correction information of the at least one reference device acquired by the acquiring module and the measurement location of the terminal device.
  20. The apparatus according to claim 19, wherein the correction information of each of the reference devices further includes a location of each of the reference devices; the location of the reference device is a location of the reference device or the Refer to the measurement location of the device.
  21. The apparatus according to claim 20, wherein the determining module comprises:
    a first determining unit, configured to determine, according to a usage range of the correction parameter of each of the reference devices, a location of each of the reference devices, and a measurement location of the terminal device, at least one first reference device; Located within the use range of the correction parameter of the first reference device;
    a second determining unit, configured to determine, according to the first determining unit, at least one first reference setting The correction information and the measurement position of the terminal device determine the positioning position of the terminal device.
  22. The device according to claim 21, wherein the first determining unit is configured to determine the terminal device and each device according to a measurement location of the terminal device and a location of each of the reference devices. Determining a first distance between the devices, and according to a first distance between the terminal device and each of the reference devices and a use range of a correction parameter of each of the reference devices, A reference device having a first distance less than or equal to a use range of the correction parameter of the reference device is determined as the first reference device.
  23. The apparatus according to claim 21 or 22, wherein the correction information of each of the reference devices further comprises a satellite number corresponding to a satellite used by each of the reference devices to calculate a measurement position of the reference device.
  24. The device according to claim 23, wherein the second determining unit is specifically configured to calculate a satellite corresponding to the satellite used when calculating the measurement position of the first reference device according to the at least one first reference device And determining, by the at least one first reference device, whether there is a second reference device having the same satellite number as the satellite used by the terminal device to calculate the measurement position of the terminal device, and determining the at least one When there is a second reference device in the reference device that is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device, according to the correction information of the second reference device and the terminal device Measuring the position to determine the positioning position of the terminal device.
  25. The device according to claim 24, wherein the second reference device is a plurality of;
    The second determining unit is configured to determine a positioning location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device, specifically:
    The second determining unit is configured to determine, according to the location of the second reference device and the measured location of the terminal device, a third reference device that is closest to the terminal device in the second reference device, and according to Determining a positioning position of the terminal device by determining a correction parameter of the third reference device and a measurement position of the terminal device.
  26. The apparatus according to claim 25, wherein the third reference position of the positioning device comprising: a reference position of the third longitude positioning device set X3, the third reference latitude position location apparatus set Y3, The height positioning position Z3 of the third reference device is determined ;
    The third reference position measuring apparatus comprising: measuring the height measuring position X3 longitude third reference sensing device, the third reference latitude measuring device measuring the position Y3, the third reference position Z3 measuring device;
    Then the correction parameter third device comprising: determining according to said predetermined ΔX3 = X3 -X3 correction parameter measured longitude third reference device ΔX3, determined according to the given -Y3 ΔY3 = Y3 third reference sensing device Lat correction parameter ΔY3, determined according to the predetermined ΔZ3 = Z3 -Z3 measured height correction parameter ΔZ3 third reference device.
  27. The apparatus according to claim 26, wherein the measurement position of the terminal apparatus comprising: measuring the position A measured longitude terminal device, the terminal device measuring the position B detected latitude, the height of the terminal device Measuring position C measurement ;
    Position location of the terminal device comprises: the longitude of the position of the positioning terminal device A set of the terminal positioning device latitude predetermined position B, the height of the terminal positioning device fixed position C;
    The second determining unit is configured to determine, according to the modified parameter of the third reference device and the measured location of the terminal device, a positioning location of the terminal device, specifically:
    The second determination unit is configured in accordance with the longitude correction parameter ΔX3 third reference device, the sensing and longitude measurement position A terminal device A = A given measurement + ΔX3, determining longitude positioning of the terminal device A fixed position;
    The latitude of the third device reference correction parameter ΔY3, the terminal latitude measuring device measuring the position B and B = B given measuring + ΔY3, determining the position of the positioning terminal apparatus B given latitude;
    The height of the third reference correction parameter ΔZ3 apparatus, the terminal height measuring device measuring the position C = C and C given measuring + ΔZ3, to determine the height position of the positioning terminal C of the given device.
  28. The apparatus according to claim 24, wherein if there is no second satellite number in the at least one first reference device that is the same as the satellite number used by the terminal device to calculate the measurement location of the terminal device And the second determining unit, configured to determine a positioning location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, specifically:
    The second determining unit is configured to determine, according to the location of each of the first reference device and the measured location of the terminal device, a fourth reference device that is closest to the terminal device, according to the fourth reference device. Calculating a measurement position of the terminal device by using a satellite used to calculate a measurement position of the fourth reference device, obtaining a measurement location updated by the terminal device, and according to the correction parameter of the fourth reference device and the terminal device Updated measurement location to determine the terminal device Position the location.
  29. The device according to claim 23, wherein the second determining unit is configured to determine a positioning position of the terminal device according to the correction information of the at least one first reference device and the measurement position of the terminal device, Specifically:
    The second determining unit is configured to determine, according to the location of each of the first reference device and the measured location of the terminal device, a fifth reference device that is closest to the terminal device, and determine the fifth reference device. Whether the satellite number corresponding to the satellite used when calculating the measurement position of the fifth reference device is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device;
    Determining, when determining that the fifth reference device calculates a measurement position of the fifth reference device, a satellite number corresponding to a satellite, and using a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device Determining, according to the correction parameter of the fifth reference device and the measurement location of the terminal device, a positioning location of the terminal device;
    Determining a satellite number corresponding to a satellite used by the fifth reference device to calculate a measurement position of the fifth reference device is different from a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device Simultaneously, the satellite used by the fifth reference device calculates the measurement position of the fifth reference device to update the measurement position of the terminal device, and obtains the measurement position updated by the terminal device, and according to the fifth reference A correction parameter of the device and a measurement position updated by the terminal device determine a positioning position of the terminal device.
  30. The device according to any one of claims 19 to 29, wherein the acquiring module is configured to receive correction information of each reference device sent by each reference device to obtain the at least one reference device. Correct the information.
  31. The device according to any one of claims 19 to 29, wherein the acquiring module is configured to receive correction information of a reference device sent by each first terminal device to obtain the at least one reference device. Correction information; the correction information of the reference device sent by each of the first terminal devices is correction information of the reference device used when the measurement position of the first terminal device is currently modified.
  32. The device according to claim 31, wherein the obtaining module is configured to receive correction information of the reference device sent by each first terminal device, specifically:
    The acquiring module is specifically configured to receive, by the first terminal device, a car to all V2X cancellation Parsing the V2X message according to the first identifier to obtain the correction information of the reference device; the V2X message carries the first identifier and the correction information of the reference device, where the first identifier is used for And indicating, to the terminal device, the correction information that carries the reference device in the V2X message.
  33. The device according to claim 32, wherein the first identifier is further configured to indicate to the terminal device that a current location of the first terminal device is a location location.
  34. The device according to any one of claims 31 to 33, wherein the device further comprises:
    a broadcast module, configured to broadcast, by the determining module, a V2X message corresponding to the terminal device after determining the location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device.
  35. The device according to any one of claims 19 to 34, wherein the determining module is further configured to determine the terminal according to the correction information of the at least one reference device and the measurement position of the terminal device. After the location of the device, the second distance between the terminal device and the reference device that currently corrects the terminal device is determined according to the location location of the terminal device and the current location of the reference device of the terminal device. Determining, according to the second distance, whether the terminal device is located within a use range of a correction parameter of a reference device that currently corrects the terminal device, and determining that the terminal device exceeds a correction parameter of a reference device that currently corrects the terminal device When the range is used, the positioning position of the terminal device is re-determined.
  36. The device according to any one of claims 19 to 34, wherein the determining module is further configured to determine the terminal according to the correction information of the at least one reference device and the measurement position of the terminal device. After the positioning position of the device, determining the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device and the satellite used when the reference device of the terminal device currently corrects the measurement position of the reference device Whether the satellite numbers are the same, and are used when judging the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device and the reference device currently correcting the terminal device to calculate the measurement position of the reference device When the satellite numbers of the satellites are different, the positioning position of the terminal device is re-determined.
  37. A positioning device, characterized in that the device comprises:
    a processor, configured to acquire correction information of the at least one reference device, and determine a positioning location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device; Correcting information includes modifying, for the terminal device, the terminal setting The correction parameter of the measurement position and the use range of the correction parameter; wherein the correction parameter is a parameter that corrects the measurement position of the reference device to the positioning position of the reference device.
  38. The apparatus according to claim 37, wherein the correction information of each of the reference devices further includes a location of each of the reference devices; the location of the reference device is a location of the reference device or the Refer to the measurement location of the device.
  39. The device according to claim 38, wherein the processor is configured to determine a positioning position of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, specifically :
    The processor is specifically configured to determine, according to a usage range of the correction parameter of each of the reference devices, a location of each of the reference devices, and a measurement location of the terminal device, at least one first reference device, and according to at least Determining a positioning position of the terminal device by using correction information of the first reference device and a measurement position of the terminal device; the terminal device being located within a use range of the correction parameter of the first reference device.
  40. The apparatus according to claim 39, wherein said processor is configured to use a range of use of a correction parameter of each of said reference devices, a position of each of said reference devices, and a measurement position of said terminal device Determining at least one first reference device, specifically:
    The processor is specifically configured to determine a first distance between the terminal device and each of the reference devices according to a measurement location of the terminal device and a location of each of the reference devices, and according to the terminal The first distance between the device and each of the reference devices and the use range of the correction parameters of each of the reference devices, the first distance between the device and the terminal device being less than or equal to the correction parameter of the reference device The reference device of the range of use is determined as the first reference device.
  41. The apparatus according to claim 39 or 40, wherein the correction information of each of said reference devices further comprises a satellite number corresponding to a satellite used by said reference device to calculate a measurement position of said reference device.
  42. The device according to claim 41, wherein the processor is configured to determine a positioning position of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, specifically :
    The processor is configured to determine, according to the satellite number corresponding to the satellite used when the measurement position of the first reference device is calculated by the at least one first reference device, whether the at least one first reference device exists and The terminal device uses when calculating the measurement position of the terminal device a second reference device having the same satellite number of the satellite, and having a second reference in the at least one first reference device that is the same as the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device And determining a positioning position of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device.
  43. The device according to claim 42, wherein the second reference device is a plurality of;
    The processor is configured to determine a positioning location of the terminal device according to the correction information of the second reference device and the measurement location of the terminal device, specifically:
    The processor is configured to determine, according to the location of the second reference device and the measurement location of the terminal device, a third reference device that is closest to the terminal device in the second reference device, and according to the Determining a positioning position of the terminal device by determining a correction parameter of the third reference device and a measurement position of the terminal device.
  44. The apparatus according to claim 43, wherein the third reference position of the positioning device comprising: a reference position of the third longitude positioning device set X3, the third reference latitude position location apparatus set Y3, The height positioning position Z3 of the third reference device is determined ;
    The third reference position measuring apparatus comprising: measuring the height measuring position X3 longitude third reference sensing device, the third reference latitude measuring device measuring the position Y3, the third reference position Z3 measuring device;
    Then the correction parameter third device comprising: determining according to said predetermined ΔX3 = X3 -X3 correction parameter measured longitude third reference device ΔX3, determined according to the given -Y3 ΔY3 = Y3 third reference sensing device Lat correction parameter ΔY3, determined according to the predetermined ΔZ3 = Z3 -Z3 measured height correction parameter ΔZ3 third reference device.
  45. The apparatus of claim 44, wherein the measurement position of the terminal apparatus comprising: measuring the position A measured longitude terminal device, the terminal device measuring the position B detected latitude, the height of the terminal device Measuring position C measurement ;
    Position location of the terminal device comprises: the longitude of the position of the positioning terminal device A set of the terminal positioning device latitude predetermined position B, the height of the terminal positioning device fixed position C;
    The processor is configured to determine a positioning location of the terminal device according to the modified parameter of the third reference device and the measured location of the terminal device, specifically:
    The processor, according to specific longitude correction parameter ΔX3 the third reference device, said terminal device longitude measured measurement position A and set A = A measured + ΔX3, longitude position location determination of the terminal device A set; latitude measuring altitude correction parameter ΔY3 the third reference device, the terminal device location measurement B = B and B given measuring + ΔY3, determine the latitude given position location of the terminal device B; based on the first height correction parameter ΔZ3 three reference devices, the terminal device measuring height measurement position C = C and C given measuring + ΔZ3, determining the height position of the positioning terminal device C set.
  46. The apparatus according to claim 42, wherein if the at least one first reference device does not have the second satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device a reference device, the processor, configured to determine a positioning location of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, specifically:
    The processor is specifically configured to determine, according to a location of each of the first reference device and a measurement location of the terminal device, a fourth reference device that is closest to the terminal device, and calculate, according to the fourth reference device Updating a measurement position of the terminal device by using a satellite used by the measurement location of the fourth reference device to obtain a measurement location updated by the terminal device, and updating the terminal device according to the correction parameter of the fourth reference device Measuring the position to determine the positioning position of the terminal device.
  47. The device according to claim 41, wherein the processor is configured to determine a positioning position of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device, specifically :
    The processor is specifically configured to determine, according to a location of each of the first reference device and a measurement location of the terminal device, a fifth reference device that is closest to the terminal device, and determine that the fifth reference device calculates Whether the satellite number corresponding to the satellite used when measuring the position of the fifth reference device is the same as the satellite number of the satellite used when the terminal device calculates the measurement position of the terminal device;
    Determining, when determining that the fifth reference device calculates a measurement position of the fifth reference device, a satellite number corresponding to a satellite, and using a satellite number of a satellite used by the terminal device to calculate a measurement position of the terminal device Determining, according to the correction parameter of the fifth reference device and the measurement location of the terminal device, a positioning location of the terminal device;
    Determining a satellite number corresponding to a satellite used by the fifth reference device to calculate a measurement position of the fifth reference device and using the terminal device to calculate a measurement position of the terminal device When the satellite numbers of the satellites are different, the satellite used by the fifth reference device calculates the measurement position of the fifth reference device to update the measurement position of the terminal device, and obtain the updated measurement position of the terminal device. And determining, according to the correction parameter of the fifth reference device and the measurement location updated by the terminal device, a positioning location of the terminal device.
  48. The device according to any one of claims 37-47, wherein the device further comprises: a receiver;
    The processor is configured to obtain the correction information of the at least one reference device, specifically:
    The processor is configured to receive, by the receiver, correction information of each reference device sent by each reference device to obtain correction information of the at least one reference device.
  49. The device according to any one of claims 37-47, wherein the device further comprises: a receiver;
    The processor is configured to obtain the correction information of the at least one reference device, specifically:
    The processor is configured to receive, by the receiver, correction information of a reference device that is sent by each first terminal device, to obtain correction information of the at least one reference device, where the first terminal device sends The correction information of the reference device is correction information of the reference device used when the measurement position of the first terminal device is currently corrected.
  50. The device according to claim 49, wherein the processor is configured to receive, by the receiver, correction information of a reference device sent by each first terminal device, specifically:
    The processor is configured to receive, by the receiver, a car-to-all V2X message sent by each first terminal device, and parse the V2X message according to the first identifier, to obtain correction information of the reference device. The V2X message carries the first identifier and the correction information of the reference device, where the first identifier is used to indicate to the terminal device that the V2X message carries the correction information of the reference device.
  51. The device according to claim 50, wherein the first identifier is further configured to indicate to the terminal device that a current location of the first terminal device is a location location.
  52. The device according to any one of claims 49-51, wherein the device further comprises: a transmitter;
    The transmitter is configured to broadcast a V2X message corresponding to the terminal device after determining, by the processor, the location information of the terminal device according to the correction information of the at least one first reference device and the measurement location of the terminal device .
  53. Apparatus according to any of claims 37-52, wherein
    The processor is further configured to: after determining the location location of the terminal device according to the correction information of the at least one reference device and the measurement location of the terminal device, according to the location location of the terminal device and the current correction Determining, by the location of the reference device of the terminal device, a second distance between the terminal device and a reference device that currently corrects the terminal device, and determining, according to the second distance, whether the terminal device is located at the current terminal Within the scope of use of the correction parameter of the reference device of the device, when determining that the terminal device exceeds the current use range of the correction parameter of the reference device of the terminal device, the positioning position of the terminal device is re-determined.
  54. The device according to any one of claims 37 to 52, wherein the processor is further configured to determine the terminal according to the correction information of the at least one reference device and the measurement location of the terminal device. After the positioning position of the device, determining the satellite number of the satellite used by the terminal device to calculate the measurement position of the terminal device and the satellite used when the reference device of the terminal device currently corrects the measurement position of the reference device Whether the satellite numbers are the same, the satellite number of the satellite used when determining the measurement position of the terminal device by the terminal device, and the current correction of the measurement position of the reference device by the reference device of the terminal device When the satellite numbers of the satellites are different, the positioning position of the terminal device is re-determined.
PCT/CN2016/083988 2016-05-31 2016-05-31 Positioning method and apparatus WO2017206037A1 (en)

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