WO2020143031A1 - Information acquisition method and related device - Google Patents

Information acquisition method and related device Download PDF

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Publication number
WO2020143031A1
WO2020143031A1 PCT/CN2019/071380 CN2019071380W WO2020143031A1 WO 2020143031 A1 WO2020143031 A1 WO 2020143031A1 CN 2019071380 W CN2019071380 W CN 2019071380W WO 2020143031 A1 WO2020143031 A1 WO 2020143031A1
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WO
WIPO (PCT)
Prior art keywords
satellite observation
positioning
file
observation file
base station
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Application number
PCT/CN2019/071380
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French (fr)
Chinese (zh)
Inventor
黄振昊
石仁利
陈庭欣
Original Assignee
深圳市大疆创新科技有限公司
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Priority to PCT/CN2019/071380 priority Critical patent/WO2020143031A1/en
Publication of WO2020143031A1 publication Critical patent/WO2020143031A1/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
    • 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
    • G01S19/42Determining position
    • GPHYSICS
    • G06COMPUTING; CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29Geographical information databases
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L29/00Arrangements, apparatus, circuits or systems, not covered by a single one of groups H04L1/00 - H04L27/00
    • H04L29/02Communication control; Communication processing
    • H04L29/06Communication control; Communication processing characterised by a protocol
    • H04L29/08Transmission control procedure, e.g. data link level control procedure
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04LTRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00Network-specific arrangements or communication protocols supporting networked applications
    • H04L67/06Network-specific arrangements or communication protocols supporting networked applications adapted for file transfer, e.g. file transfer protocol [FTP]

Abstract

An information acquisition method. The method comprises: a first positioning device obtains a first satellite observation file of a mobile platform corresponding to a first operating task (S501), the first satellite observation file comprising a photographing timestamp of a mobile terminal and satellite observation data corresponding to the photographing timestamp; the first positioning device determines first operating time information corresponding to the first operating task (S502); the first positioning device automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operating time information (S503), the second satellite observation file being a satellite observation file of a base station, the second satellite observation file and the first satellite observation file being used for calculating location information of a load of the mobile platform at the photographing timestamp, and the load being a photographing apparatus of the mobile platform. According to the method, the accuracy of obtaining satellite observation files is improved.

Description

Information acquisition method and related equipment Technical field

The present application relates to the technical field of terminals, in particular to an information acquisition method and related equipment.

Background technique

At present, precision positioning technology is usually used in business scenarios such as map construction, task planning, data analysis, and post-processing map construction. For example, in the business scenario of map construction, the positioning device needs to accurately locate the position of the mobile terminal load (such as the camera) at the working time point through precision positioning technology, so as to follow up the map construction according to the position of the mobile terminal load at the working time point . Typical precision positioning technologies include postprocessed differential (PPK) technology and real-time dynamic differential settlement (RTK).

If the PPK technology is used to accurately position the load of the mobile terminal at the working time point, the user needs to separately collect the satellite observation file of the base station and the satellite observation file of the mobile terminal, and then manually import the satellite observation files of the two devices into the computer to calculate The position of the mobile terminal load at the working time. If the user collects satellite observation files of multiple operational tasks in an aerial survey, the user manually imports the base station satellite observation files and mobile terminal satellite observation files of these operational tasks, which will easily lead to file confusion. For example, because there are satellite observation files for multiple operation tasks, the user may mistakenly enter the mobile terminal satellite observation files corresponding to operation task 1 and the base station satellite observation files corresponding to operation task 2. It can be seen that this will result in an inaccurate calculation of the position accuracy of the load on the mobile terminal. How to improve the accuracy of obtaining satellite observation files is an urgent problem to be solved by those skilled in the art.

Application content

The embodiments of the present application disclose an information acquisition method and related equipment, which can improve the accuracy of acquiring satellite observation files.

In a first aspect, an embodiment of the present application provides an information acquisition method. The method includes: a first positioning device acquires a first satellite observation file of a mobile platform corresponding to a first operation task, and the first satellite observation file includes the Shooting time stamp of the mobile platform and satellite observation data corresponding to the shooting time stamp;

The first positioning device determines first operation time information corresponding to the first operation task;

The first positioning device automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, the second satellite observation file is a satellite observation file of a base station, and the second The satellite observation file and the first satellite observation file are used to calculate the position information of the load of the mobile platform at the shooting timestamp, and the load is the shooting device of the mobile platform.

In a second aspect, an embodiment of the present application provides yet another method for obtaining information. The method includes:

The base station receives first operation time information from the first positioning device connected to the base station;

The base station automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, where the first satellite observation file is a satellite observation file of the mobile platform corresponding to the first operation task;

The base station sends the second satellite observation file to the first positioning device.

In a third aspect, an embodiment of the present application provides yet another method for obtaining information. The method includes:

The target server receives the rough location of the mobile platform in the first operation task and/or the first operation time information sent by the first positioning device;

The target server obtains the first satellite observation file corresponding to the first satellite observation file from the base station connected to the target server according to the rough location of the mobile platform and/or the first operation time information in the first task The second satellite observation file is the satellite observation file of the base station, and the first satellite observation file is the satellite observation file of the mobile platform corresponding to the first operation task;

The target server sends the second satellite observation file to the first positioning device.

According to a fourth aspect, an embodiment of the present application provides a positioning device. The positioning device includes: a memory, a processor, and a communication interface, where:

The memory is used to store program instructions;

The processor calls the program instructions for:

Obtain a first satellite observation file of the mobile platform corresponding to the first operation task, where the first satellite observation file includes a shooting time stamp of the mobile platform and satellite observation data corresponding to the shooting time stamp;

Determining first operation time information corresponding to the first operation task;

Automatically obtain a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, the second satellite observation file is a satellite observation file of a base station, the second satellite observation file and the The first satellite observation file is used to calculate the position information of the load of the mobile platform at the shooting timestamp, and the load is the shooting device of the mobile platform.

According to a fifth aspect, an embodiment of the present application provides a base station, which includes a processor, a memory, and a communication interface, where:

The memory is used to store program instructions;

The processor calls the program instructions for:

Receiving first operation time information from a first positioning device connected to the base station;

Automatically obtain a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, where the first satellite observation file is a satellite observation file of the mobile platform corresponding to the first operation task;

Sending the second satellite observation file to the first positioning device.

According to a sixth aspect, an embodiment of the present application provides a target server. The target server includes a processor, a memory, and a communication interface, where:

The memory is used to store program instructions;

The processor calls the program instructions for:

Receiving the rough location of the mobile platform and/or the first operation time information in the first operation task sent by the first positioning device;

Acquiring the second satellite corresponding to the first satellite observation file from the base station connected to the target server according to the rough position of the mobile platform and/or the first operation time information in the first operation task An observation file, the second satellite observation file is a satellite observation file of a base station, and the first satellite observation file is a satellite observation file of a mobile platform corresponding to a first operation task;

Sending the second satellite observation file to the first positioning device. In the method provided in the embodiment of the present application, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task, and after determining the first operation time information corresponding to the first operation task, A working time information automatically obtains the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that, by the method provided in this embodiment, the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform can be automatically obtained, which can improve the accuracy of acquiring the satellite observation file.

BRIEF DESCRIPTION

In order to more clearly explain the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. Those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic diagram of an information acquisition system provided by an embodiment of the present application;

2 is a schematic diagram of another information acquisition system provided by an embodiment of the present application;

3 is a schematic diagram of another information acquisition system provided by an embodiment of the present application;

4 is a schematic diagram of another information acquisition system provided by an embodiment of the present application;

5 is a flowchart of an information acquisition method provided by an embodiment of the present application;

6 is a flowchart of another information acquisition method provided by an embodiment of the present application;

7 is a flowchart of another information acquisition method provided by an embodiment of the present application;

FIG. 8 is a flowchart of another information acquisition method provided by an embodiment of the present application;

9 is a flowchart of another information acquisition method provided by an embodiment of the present application;

10 is a flowchart of another information acquisition method provided by an embodiment of the present application;

11 is a flowchart of another information acquisition method provided by an embodiment of the present application;

12 is a schematic structural diagram of a positioning device provided by an embodiment of the present application;

13 is a schematic structural diagram of a base station provided by an embodiment of the present application;

14 is a schematic structural diagram of a target server according to an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be described clearly and completely in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application. In addition, in the case of no conflict, the following embodiments and the features in the embodiments can be combined with each other.

The terminology used in this application is for the purpose of describing particular embodiments only, and does not limit this application. The singular forms “a”, “the” and “said” used in the present application and claims are also intended to include the majority forms unless the context clearly indicates other meanings. It should be understood that the term "and/or" as used herein refers to any or all possible combinations including one or more associated listed items.

Although the terms first, second, third, etc. may be used to describe various information in this application, the information should not be limited to these terms. These terms are used to distinguish the same type of information from each other. For example, without departing from the scope of the present application, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information. Depending on the context, in addition, the word "if" may be interpreted as "when", or "when", or "in response to a determination".

1 is a schematic diagram of an information acquisition system provided by an embodiment of the present application. The information acquisition system includes a mobile platform, a first positioning device, and a base station. The following will give a detailed introduction to these devices.

The mobile platform may include, but is not limited to, drones, unmanned boats, and ground robots (such as unmanned vehicles, etc.). The mobile platform can carry a shooting device (such as a camera, a video camera, etc.), and the mobile platform can shoot images through the carried shooting device. Optionally, the shooting device can be directly configured on the body of the mobile platform. Optionally, the photographing device may be configured on the body of the mobile platform through the carrying device. Wherein, the carrying device may be a gimbal, and the gimbal may carry a shooting device to stabilize the shooting equipment and/or adjust the shooting posture of the shooting device. The mobile platform can receive satellite observation data and generate satellite observation files based on the received satellite observation data. For example, the satellite observation data may be carrier phase observations and/or pseudorange observations. Optionally, the mobile platform may store its own satellite observation files and/or captured pictures in its own secure digital memory card (SD).

The first positioning device is used to obtain the first satellite observation file of the mobile platform corresponding to the first operation task, and automatically obtain the base station corresponding to the first satellite observation file according to the first operation time information of the first operation task The second satellite observation file. Optionally, the first positioning device may be a relay device, a calculation server, or the first positioning device may be any one of devices that integrate the functions of a repeater and a calculation server. Among them, the relay device may be a remote controller of the mobile platform, or the relay device may be a device such as a computer. Among them, the base station is used to receive satellite observation data and generate satellite observation files based on the received satellite observation data. The base station may be a base station set up by a user, and the base station may establish a connection relationship with the first positioning device; the base station may also be a base station in a continuously operating reference station (CORS) system or a network positioning system. The base station can establish a connection relationship with the target server. Among them, the target server is a server that continuously runs the reference station system or the network positioning system. Specifically, refer to FIG. 2 for the connection relationship between the base station and the target server. 2 is a schematic diagram of another information acquisition system provided by an embodiment of the present application.

As an optional implementation manner, if the first positioning device is a relay device, as shown in FIG. 3, the system architecture may further include a second positioning device. After acquiring the first satellite observation file and the corresponding second satellite observation file of the mobile platform, the first positioning device may also send the first satellite observation file and the second satellite observation file to the second positioning device (such as a solution server) for solution Calculate to get the position of the load of the mobile platform (ie the shooting device). Optionally, the first positioning device may also receive the load position of the mobile platform sent by the second positioning device. After the first positioning device obtains the load position of the mobile platform, it can also construct a map according to the load position of the mobile platform. Optionally, after the user connects the SD card of the mobile platform to the first positioning device, the first positioning device may obtain the satellite observation file and/or the captured picture of the mobile platform from the SD card. FIG. 3 takes the first positioning device directly connected to the base station, and the base station is a base station set up by the user as an example. Of course, the base station in FIG. 3 may also be a base station in a CORS system or a network positioning system. The first positioning device may also be connected to a target server. The target server is connected to the base station.

As an optional implementation manner, if the first positioning device is a solution server, as shown in FIG. 4, the system architecture may further include a relay device. The first positioning device may specifically receive the first satellite observation file of the mobile platform corresponding to the first operation task from the relay device. After the first positioning device automatically obtains the second satellite observation file of the base station according to the first operation time information of the first operation task, it can also resolve the first satellite observation file and the second satellite observation file to obtain the load of the mobile platform (Ie the camera). Optionally, the first positioning device may also send the position of the load of the mobile platform to the relay device. Optionally, after the user connects the SD card of the mobile platform to the relay device, the relay device may obtain satellite observation files and/or captured pictures of the mobile platform from the SD card. FIG. 4 takes the first positioning device directly connected to the base station, and the base station is a base station set up by the user as an example. Of course, the base station in FIG. 4 may also be a base station in a CORS system or a network positioning system. The first positioning device may also be connected to a target server. The target server is connected to the base station.

As an optional implementation, if the first positioning device integrates the functions of a repeater and a solution server, after the first positioning device obtains the first satellite observation file of the mobile platform and the corresponding second satellite observation file of the base station, The first satellite observation file and the second satellite observation file can also be solved to obtain the position of the load (ie, the shooting device) of the mobile platform. Optionally, after the first positioning device obtains the load position of the mobile platform, it may also construct a map according to the load position of the mobile platform.

The specific process of an information acquisition method provided in an embodiment of the present application is further described below.

5 is a flowchart of an information acquisition method provided by an embodiment of the present application. The method may be implemented based on the system architecture described above, and the first positioning device described below may be the first positioning device in the system architecture shown above. The method includes but is not limited to the following steps.

S501. The first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task.

Specifically, the manner in which the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task may be: the first positioning device receives the first satellite observation file from the mobile platform corresponding to the first operation task.

Wherein, the first satellite observation file includes a shooting time stamp of the mobile platform and satellite observation data corresponding to the shooting time stamp. In actual operation, the mobile terminal can generate the first satellite observation file and store the first satellite observation file in the SD card of the mobile platform. Specifically, the load of the mobile platform (for example, camera, camera) is synchronized with the pulse-per-second (PPS) time of the carrier-phase differential (real-time kinematic, RTK) module, so that the camera and the RTK module are in the same Under the time frame (for example, coordinated universal time (UTC) system, etc.). This time synchronization method can determine the time when the satellite observation data is acquired more accurately. Specifically, in the process of storing the satellite observation file, the mobile platform stores the shooting time stamp of the mobile platform and the satellite observation data corresponding to the shooting time stamp.

Optionally, the first satellite observation file may further include the first operation time information, and the first operation time information includes an operation start time point and an operation end time point of the first operation task. Specifically, in the process of storing the satellite observation file, the mobile platform also stores the first operation time information corresponding to the satellite observation file.

For example, the first job task is used to build a map, and the mobile platform needs to take pictures and receive satellite observation data during the execution of the first job task, as well as the shooting time stamp of the mobile platform and the satellite observation data corresponding to the shooting time stamp Generate the first satellite observation file corresponding to the first job task. If the mobile platform starts the first job task from 8:45 and ends the first job task at 10:25, the first satellite observation file includes the job start time point at 8:45 and the job end time point at 10. : 25. If the shooting timestamp of the mobile platform during the execution of the first job task includes shooting timestamp 1 to shooting timestamp 100, the first satellite observation file may also include shooting timestamp 1 to shooting timestamp 100, and shooting timestamp 1 corresponds to the satellite observation file ~ the satellite observation file corresponding to the shooting time stamp 100.

S502. The first positioning device determines first operation time information corresponding to the first operation task.

The following describes a method for the first positioning device to determine first operation time information corresponding to the first operation task.

In the first method, the first positioning device determines the earliest shooting timestamp and the latest shooting timestamp from the first satellite observation file; the first positioning device determines the earliest shooting timestamp and the latest shooting timestamp The time stamp determines the first job time information corresponding to the first job task. Optionally, the manner in which the first positioning device determines the first job time information corresponding to the first job task according to the earliest shooting timestamp and the latest shooting timestamp may be: The earliest shooting timestamp is determined as the job start time point of the first job time information; the first positioning device determines the latest shooting timestamp as the job end time point of the first job time information.

For example, the shooting timestamps included in the first satellite observation file are 8:45, 9:10, 9:20, 9:30, 9:40, 9:50, and 10:25. The first positioning device determines from the first satellite observation file that the earliest shooting timestamp is 8:45 and the latest shooting timestamp is 10:25. Then, the first positioning device determines 8:45 as the job start time point of the first job time information, and 10:25 as the job end time point of the first job time information.

Of course, the earliest shooting timestamp may not be directly determined as the job start time point, and the latest shooting timestamp may not be directly determined as the job end time point. For example, the shooting timestamps included in the first satellite observation file are 8:45:01, 9:10:05, 9:20:03, 9:30:05, 9:40:02, 9:50:08 , 10:25:02. The first positioning device determines from the first satellite observation file that the earliest shooting timestamp is 8:45:01 and the latest shooting timestamp is 10:25:02. The first positioning device can determine the job start time and job end time to minutes, that is, 8:45 can be determined as the job start time of the first job time information, and 10:25 can be determined as the first job time The end time of the job.

In the second method, the first operation time information is stored in the first satellite observation file, and the manner in which the first positioning device determines the first operation time information corresponding to the first operation task may be: the first positioning device observes from the first satellite The first job time information corresponding to the first job task is obtained from the file. That is, in the second method, the first positioning device can directly read the first operation time information corresponding to the first operation task from the first satellite observation file.

S503. The first positioning device automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information.

Wherein, the second satellite observation file is a satellite observation file of a base station, the second satellite observation file and the first satellite observation file are used to calculate the position information of the load of the mobile platform at the shooting timestamp, the load is the mobile The shooting device of the platform.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files. For example, the second satellite observation file may generate a satellite observation file with a period of one hour. When the first satellite observation file is a satellite observation file of a mobile platform from 9:00 to 12:00, the first satellite observation file may Corresponding to the satellite observation files from 9:00 to 10:00, the satellite observation files from 10:00 to 11:00, and the satellite observation files from 11:00 to 12:00.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks. For example, the satellite observation file of the base station from 9:00 to 10:00 may correspond to the first satellite observation file of 9:00 to 10:00 of the first mobile platform working near the base station, and may also correspond to the The first satellite observation file of the second mobile platform working near the base station from 9:00 to 10:00 may also correspond to the first satellite observation of the third mobile platform working near the base station from 9:00 to 10:00 Documents, etc.

It can be understood that the second satellite observation file may be divided into satellite observation files according to any suitable length of time, such as every half hour or every two hours, etc., so as to improve the efficiency of calculation and improve the user experience. This embodiment is only an exemplary description and is not limited herein.

There may be two methods for the first positioning device to automatically obtain the second satellite observation file corresponding to the first satellite observation file according to the first operation time information.

In a first manner, the first positioning device obtains the second satellite observation file corresponding to the first satellite observation file from the base station connected to the first positioning device based on the first operation time information. For a specific implementation manner of the first manner, reference may be made to the specific description of the process shown in FIG. 6 below, and details are not described herein.

In a second manner, the first positioning device obtains a second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information. For a specific implementation manner of the second manner, reference may be made to the detailed description of the process shown in FIG. 8 below, and details are not described herein.

In the case where the first positioning device is a device that integrates a relay device and a solution server, after performing step S503, the first positioning device may also locate according to the first satellite observation file and the second satellite observation file The load of the mobile platform is at the location of the shooting timestamp.

Optionally, the method for the first positioning device to locate the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file may be: the first positioning device according to the first The satellite observation file and the second satellite observation file determine the position of the antenna phase center; the first positioning device obtains the offset of the position of the antenna phase center from the load center position; the first positioning device obtains the attitude of the aircraft; the first The positioning device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft; the first positioning device determines the load of the mobile platform at the shooting according to the position compensation value and the position of the antenna phase center Timestamp location information. Further, the first positioning device determines the position of the antenna phase center according to the first satellite observation file and the second satellite observation file, and can use carrier positioning differential positioning technology to combine ephemeris data, the first satellite observation file, and the second satellite Observe the file and use forward filtering and inverse filtering to calculate the precise positioning of the mobile platform trajectory; then according to the time stamp of the mobile platform's load photographing, solve the position of the antenna phase center through an algorithm such as interpolation.

Optionally, after the first positioning device locates the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file, the first positioning device may also obtain the shooting time Poke the corresponding picture; then build the picture according to the load of the mobile platform at the position of the shooting timestamp and the picture corresponding to the shooting timestamp.

By implementing the method described in FIG. 5, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first task, and after determining the first task time information corresponding to the first task, it can The operation time information automatically acquires the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that by implementing the method described in FIG. 5, the first positioning device can automatically acquire the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform, which can improve the accuracy of acquiring the satellite observation file and improve the user experience.

Referring to FIG. 6, it is a flowchart of another information acquisition method provided by an embodiment of the present application. The method may be implemented based on the system architecture shown in FIG. 1, FIG. 3, or FIG. 4. The first positioning device described below may be the first positioning device in the system architecture shown in FIG. 1, FIG. 3, or FIG. The base station described below may be a base station in the system architecture shown in FIG. 1, FIG. 3, or FIG. 4. The method includes but is not limited to the following steps.

S601. The first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S501 in FIG. 5, and details are not described here.

S602. The first positioning device determines first operation time information corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S502 in FIG. 5, and details are not described here.

S603. The first positioning device obtains the second satellite observation file corresponding to the first satellite observation file from the base station connected to the first positioning device according to the first operation time information.

Optionally, the first positioning device is connected to at least one base station. Wherein, the second satellite observation file is a satellite observation file of a base station, the second satellite observation file and the first satellite observation file are used to calculate the position information of the load of the mobile platform at the shooting timestamp, the load is the mobile The shooting device of the platform.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files. For example, the second satellite observation file can generate a satellite observation file with a period of one hour. When the first satellite observation file is a satellite observation file of a mobile platform from 9:00 to 12:00, the first satellite observation file It can correspond to the satellite observation files of the base station from 9:00 to 10:00, the satellite observation files from 10:00 to 11:00, and the satellite observation files from 11:00 to 12:00.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks. For example, the satellite observation file of the base station from 9:00 to 10:00 may correspond to the first satellite observation file of 9:00 to 10:00 of the first mobile platform working near the base station, and may also correspond to the The first satellite observation file of the second mobile platform working near the base station from 9:00 to 10:00 may also correspond to the first satellite observation of the third mobile platform working near the base station from 9:00 to 10:00 Documents, etc.

It can be understood that the second satellite observation file may be divided into satellite observation files according to any suitable length of time, such as every half hour or every two hours, etc., so as to improve the efficiency of calculation and improve the user experience. This embodiment is only an exemplary description and is not limited herein.

The following describes a method for the first positioning device to obtain the second satellite observation file corresponding to the first satellite observation file from the base station connected to the first positioning device according to the first operation time information.

Optionally, the first satellite observation file further includes a rough location of the mobile platform corresponding to the first operation task (for example, a location in a global positioning system (GPS)). The first positioning device determines at least one distance between the approximate location of the mobile platform and the at least one base station; the first positioning device determines a target base station from the at least one base station according to the at least one distance; the first positioning device determines the target base station according to the first A working time information, the second satellite observation file corresponding to the first satellite observation file is obtained from the target base station connected to the first positioning device. Optionally, the first positioning device determines the base station corresponding to the smallest distance among the at least one distance as the target base station.

For example, the first mobile platform has a connection relationship with three base stations, which are the first base station, the second base station, and the third base station, respectively. First, the first positioning device determines the rough position of the first mobile platform corresponding to the first operation task from the first satellite observation file. After that, the first positioning device determines the approximate location of the first mobile platform and the distance between the three base stations based on the approximate location of the first mobile platform and the locations of the three base stations. If the distance between the approximate location of the first mobile platform and the first base station determined by the first positioning device is 4 kilometers, and the distance between the approximate location of the first mobile platform and the second base station is 2 kilometers, the first The distance between the approximate location of the mobile platform and the third base station is 10 kilometers; then the first positioning device uses the second base station corresponding to the minimum distance of 2 kilometers as the target base station, and obtains the corresponding first satellite observation file from the second base station The second satellite observation file.

Of course, the first positioning device may also determine the target base station according to other suitable methods, for example, determining one or more base stations within a preset range as the target base station, so as to establish a connection relationship with one or more base stations, and select Or obtain a second satellite observation file corresponding to the first satellite observation file from multiple target base stations, which is not limited herein.

The first positioning device can obtain the second satellite observation file corresponding to the first satellite observation file from the target base station connected to the first positioning device according to the first operation time information in the following two ways.

In the first way, the first positioning device sends the first operation time information to the target base station connected to the first positioning device; the first positioning device receives the feedback from the target base station based on the first operation time information The second satellite observation file corresponding to the first satellite observation file. That is, in the first manner, the target base station obtains the second satellite observation file corresponding to the first satellite observation file according to the first operation time information, and feeds back the second satellite observation file to the first positioning device. For a specific implementation manner of the first manner, reference may be made to the detailed description of the process shown in FIG. 7 below, and details are not described herein.

In the second way, the target base station includes multiple satellite observation files. The first positioning device receives the plurality of satellite observation files from the target base station connected to the first positioning device; the first positioning device obtains the first from the plurality of satellite observation files according to the first operation time information The second satellite observation file corresponding to the satellite observation file. That is, in the second mode, the target base station feeds back multiple satellite observation files to the first positioning device, and the first positioning device obtains the second satellite observation file corresponding to the first satellite observation file according to the first operation time information .

Optionally, the satellite observation file of the base station includes the initial reception time of the satellite observation value, and the first positioning device obtains from the plurality of satellite observation files corresponding to the first satellite observation file according to the first operation time information The method of the second satellite observation file may be: the first positioning device determines the target start time and target stop time according to the job start time point and the job end time point of the first job time information; the first positioning device according to the satellite Obtain the satellite satellite observation value start receiving time, target start time and target stop time included in the observation file, and obtain the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files; The initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, and the initial reception time of the satellite observation value in the second satellite observation file is less than the target stop time.

Among them, the second satellite observation file can be divided into a satellite observation file according to the hour, in this case, the target start time is the whole hour of the operation start time point of the first operation time information, the target stops The time is the whole time that is greater than or equal to the job end time point of the first job time information. For example, the job start time included in the first job time information is 8:45, and the job end time point is 9:25; then the target start time of the satellite observation is a job less than the first job time information When the starting time is 8:45, the whole time is 8:00, then the target stop time of the satellite observation is greater than 10:00, the whole time of the job end time 9:25.

The following describes an example of a process in which the first positioning device acquires the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information. If the start time point of the job included in the first work time information is 8:45, the end time point of the job is 9:25; the start receiving time of the satellite observations in multiple satellite observation files is 7:00, 8:00, 9:00, 10:00, 11:00. The first positioning device determines that the target start time is 8:00 and the target stop time is 10:00 according to the job start time 8:45 and the job end time 9:25 of the first job time information. The first positioning device determines the second corresponding to the first satellite observation file from the plurality of satellite observation files according to the initial reception time of the satellite observation value, the target start time 8:00 and the target stop time 10:00 The satellite observation file shall be the satellite observation file corresponding to 8:00 and the satellite observation file corresponding to 9:00. Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time of the satellite observation value, and the initial reception time of the satellite observation value in the second satellite observation file is less than the satellite The target stop time of the observation.

In the case where the first positioning device is a device that integrates a relay device and a calculation server, after performing step S603, the first positioning device may also locate according to the first satellite observation file and the second satellite observation file The load of the mobile platform is at the location of the shooting timestamp.

Specifically, the method for the first positioning device to locate the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file may be: the first positioning device according to the first satellite The observation file and the second satellite observation file determine the position of the antenna phase center; the first positioning device obtains the offset of the position of the antenna phase center from the position of the load center; the first positioning device obtains the attitude of the aircraft; the first positioning The device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft; the first positioning device determines the load of the mobile platform at the shooting time according to the position compensation value and the position of the antenna phase center Poke location information. Further, the first positioning device determines the position of the antenna phase center according to the first satellite observation file and the second satellite observation file, and can use carrier positioning differential positioning technology to combine ephemeris data, the first satellite observation file, and the second satellite Observe the file and use forward filtering and inverse filtering to calculate the precise positioning of the mobile platform trajectory; then according to the time stamp of the mobile platform's load photographing, solve the position of the antenna phase center through an algorithm such as interpolation.

Optionally, after the first positioning device locates the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file, the first positioning device may also obtain the shooting time Poke the corresponding picture; then build the picture according to the load of the mobile platform at the position of the shooting timestamp and the picture corresponding to the shooting timestamp.

By implementing the method described in FIG. 6, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first task, and after determining the first task time information corresponding to the first task, it can The operation time information automatically acquires the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that by implementing the method described in FIG. 6, the first positioning device can automatically acquire the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform, which can improve the accuracy of acquiring the satellite observation file and improve the user experience.

Referring to FIG. 7, it is a flowchart of yet another information acquisition method provided by an embodiment of the present application. This method can be implemented based on the architecture shown in FIG. 1, FIG. 3 or FIG. 4. The first positioning device described below may be the first positioning device in the system architecture shown in FIG. 1, FIG. 3, or FIG. 4, and the target base station described below may be the system architecture shown in FIG. 1, FIG. 3, or FIG. 4. Base station. The method includes but is not limited to the following steps.

S701. The first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S501 in FIG. 5, and details are not described here.

S702. The first positioning device determines first operation time information corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S502 in FIG. 5, and details are not described here.

S703. The first positioning device sends the first operation time information to a target base station connected to the first positioning device.

The first job time information includes a job start time point and a job end time point of the first job task.

S704. After receiving the first operation time information, the target base station automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information.

The first satellite observation file is the satellite observation file of the mobile platform corresponding to the first operation task.

Optionally, the target base station generates multiple satellite observation files at a preset time interval. For example, the target base station can generate satellite observation files with a period of one hour. For example, the target base station may generate satellite observation files from 9:00 to 10:00, satellite observation files from 10:00 to 11:00, and satellite observation files from 11:00 to 12:00.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files. For example, the first satellite observation file is a satellite observation file of the mobile platform from 9:00 to 12:00, then the first satellite observation file may correspond to the satellite observation file of the target base station from 9:00 to 10:00, Satellite observation files from 10:00 to 11:00, and satellite observation files from 11:00 to 12:00.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks. For example, the satellite observation file of the target base station from 9:00 to 10:00 may correspond to the first satellite observation file of 9:00 to 10:00 of the first mobile platform working near the target base station, and may also correspond to The first satellite observation file from 9:00 to 10:00 of the second mobile platform operating near the target base station may also correspond to the 9:00 to 10:00 of the third mobile platform operating near the target base station The first satellite observation file, etc.

Optionally, the target base station includes multiple satellite observation files, and the satellite observation file of the target base station includes the initial reception time of the satellite observation value. The manner in which the target base station automatically obtains the second satellite observation file corresponding to the first satellite observation file according to the first operation time information may be: the target base station according to the operation start time point and operation end time of the first operation time information Point to determine the target start time and target stop time of the satellite observations in the second satellite observation file; the target base station according to the initial reception time of the satellite observations, the target start time of the satellite observations and the satellite observations Target stop time of the value, the second satellite observation file corresponding to the first satellite observation file is determined from the multiple satellite observation files of the target base station; wherein, the initial reception time of the satellite observation value in the second satellite observation file Is greater than or equal to the target start time of the satellite observation value, the initial reception time of the satellite observation value in the second satellite observation file is less than the target stop time of the satellite observation value.

Optionally, the second satellite observation file may be divided into a satellite observation file according to the hour, and the target start time of the satellite observation value is an hour that is less than or equal to the job start time point of the first job time information, The target stop time of the satellite observation value is an entire time that is greater than or equal to the job end time point of the first job time information. For example, the job start time included in the first job time information is 8:45, and the job end time point is 9:25; then the target start time of the satellite observation is a job less than the first job time information When the starting time is 8:45, the whole time is 8:00, then the target stop time of the satellite observation is greater than 10:00, the whole time of the job end time 9:25.

The process of automatically acquiring the second satellite observation file corresponding to the first satellite observation file by the target base station according to the first operation time information is described below. If the operation start time point contained in the first operation time information is 8:45, and the operation end time point is 9:25; the start reception time of the satellite observation values in the multiple satellite observation files of the target base station is respectively It is 7:00, 8:00, 9:00, 10:00, 11:00. The target base station determines that the target start time of the satellite observation value is 8:00 and the target stop time is 10:00 according to the job start time point 8:45 and the job end time point 9:25 of the first job time information . The target base station determines the first from the multiple satellite observation files of the target base station according to the initial reception time of the satellite observation, the target start time 8:00 and the target stop time 10:00 of the satellite observation The second satellite observation file corresponding to the satellite observation file should be: the satellite observation file corresponding to 8:00 and the satellite observation file corresponding to 9:00. Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time of the satellite observation value, and the initial reception time of the satellite observation value in the second satellite observation file is less than the satellite The target stop time of the observation.

S705. The target base station sends the second satellite observation file to the first positioning device.

Correspondingly, the first positioning device receives the second satellite observation file sent by the target base station.

In the case where the first positioning device is a device that integrates a relay device and a calculation server, after the first positioning device receives the second satellite observation file sent by the target base station, the first satellite observation file and The second satellite observation file locates the position of the load of the mobile platform at the shooting timestamp.

Optionally, the method for the first positioning device to locate the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file may be: the first positioning device according to the first The satellite observation file and the second satellite observation file determine the position of the antenna phase center; the first positioning device obtains the offset of the position of the antenna phase center from the load center position; the first positioning device obtains the attitude of the aircraft; the first The positioning device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft; the first positioning device determines the load of the mobile platform at the shooting according to the position compensation value and the position of the antenna phase center Timestamp location information. Further, the first positioning device determines the position of the antenna phase center according to the first satellite observation file and the second satellite observation file, and can use carrier positioning differential positioning technology to combine ephemeris data, the first satellite observation file, and the second satellite Observe the file and use forward filtering and inverse filtering to calculate the precise positioning of the mobile platform trajectory; then according to the time stamp of the mobile platform's load photographing, solve the position of the antenna phase center through an algorithm such as interpolation.

Optionally, after the first positioning device locates the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file, the first positioning device may also obtain the shooting time Poke the corresponding picture; then build the picture according to the load of the mobile platform at the position of the shooting timestamp and the picture corresponding to the shooting timestamp.

In yet another feasible implementation manner, the method may further include: the target base station estimates the location of the target base station to obtain a predicted location (for example, the location in GPS); the target base station receives user input The absolute position of the target base station; the target base station determines whether the deviation between the estimated position and the absolute position exceeds a preset distance; if the deviation does not exceed the preset distance, writes the absolute position to the target base station’s Satellite observation files. Optionally, after the target base station is started, the target base station determines the deviation between its estimated position and absolute position. In this way, the problem of incorrect location information of the target base station in the satellite observation file of the target base station can be avoided, and the accuracy of information acquisition can be improved.

Optionally, if the deviation between the estimated position and the absolute position exceeds a preset distance, it prompts that the absolute position of the target base station is entered incorrectly. In this way, when the absolute position of the target base station entered by the user is incorrect, a prompt can be issued to the user, which can avoid the problem of the position information of the target base station in the satellite observation file of the target base station and improve the accuracy of information acquisition .

Optionally, within the period in which the target base station generates the satellite observation file, if the base station restarts or moves, the satellite observation file is regenerated. For example, if the target base station generates a satellite observation file from 9:00 to 10:00, and the target base station restarts at 9:30, after the target base station restarts, the target base station re-verifies the target Whether the deviation between the estimated position of the base station and the absolute position of the target base station exceeds a preset distance, and if the deviation does not exceed the preset distance, the target base station regenerates the satellite observation file. In this way, when the target base station moves, the satellite observation file can be regenerated, which can avoid the problem of incorrect location information of the target base station in the satellite observation file of the target base station and improve the accuracy of information acquisition.

By implementing the method described in FIG. 7, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first task, and after determining the first task time information corresponding to the first task, it can The operation time information automatically acquires the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that by implementing the method described in FIG. 7, the first positioning device can automatically acquire the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform, which can improve the accuracy of acquiring the satellite observation file and improve the user experience.

Referring to FIG. 8, it is a flowchart of another information acquisition method provided by an embodiment of the present application. The method may be implemented based on the architecture shown in FIG. 2. The first positioning device described below may be the first positioning device in the system architecture shown in FIG. The method includes but is not limited to the following steps.

S801. The first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S501 in FIG. 5, and details are not described here.

S802. The first positioning device determines first operation time information corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S502 in FIG. 5, and details are not described here.

S803. The first positioning device obtains a second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information.

Wherein, the second satellite observation file is a satellite observation file of a base station, the second satellite observation file and the first satellite observation file are used to calculate the position information of the load of the mobile platform at the shooting timestamp, the load is the mobile The shooting device of the platform.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files. For example, the second satellite observation file can generate a satellite observation file with a period of one hour. When the first satellite observation file is a satellite observation file of a mobile platform from 9:00 to 12:00, the first satellite observation file It can correspond to the satellite observation files of the base station from 9:00 to 10:00, the satellite observation files from 10:00 to 11:00, and the satellite observation files from 11:00 to 12:00.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks. For example, the satellite observation file of the base station from 9:00 to 10:00 may correspond to the first satellite observation file of 9:00 to 10:00 of the first mobile platform working near the base station, and may also correspond to the The first satellite observation file of the second mobile platform working near the base station from 9:00 to 10:00 may also correspond to the first satellite observation of the third mobile platform working near the base station from 9:00 to 10:00 Documents, etc.

The following describes a method for the first positioning device to obtain the second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information.

In the first method, the first positioning device sends the rough location of the mobile platform in the first job task and/or the first operation time information to the target server; the first positioning device receives the target server according to the first The second satellite observation file corresponding to the first satellite observation file fed back by the rough position of the mobile platform and/or the first operation time information in the operation task. That is, in the first manner, the target server obtains the second satellite observation file corresponding to the first satellite observation file according to the first operation time information, and feeds back the second satellite observation file to the first positioning device. For a specific implementation manner of the first manner, reference may be made to the detailed description of the process shown in FIG. 9 below, and details are not described herein.

In the second method, the first positioning device sends the rough position of the mobile platform in the first work task to the target server; the first positioning device receives the rough position of the mobile platform in the first work task according to the target server A plurality of satellite observation files of the base station fed back; the first positioning device obtains a second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information.

Wherein, the satellite observation file of the base station includes the initial reception time of the satellite observation value, and the first positioning device obtains the second corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information The method of the satellite observation file may be: the first positioning device determines the target start time and target of the satellite observation value in the second satellite observation file according to the operation start time point and the operation end time point of the first operation time information Stop time; the first positioning device determines the first from the plurality of satellite observation files according to the start receiving time of the satellite observation value, the target start time of the satellite observation value and the target stop time of the satellite observation value The second satellite observation file corresponding to the satellite observation file; where the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time of the satellite observation value, the The initial reception time of the satellite observation is less than the target stop time of the satellite observation.

The following describes an example of a process in which the first positioning device acquires the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information. If the job start time point included in the first job time information is 8:45, and the job end time point is 9:25; the target server received by the first positioning device according to the mobile platform’s The initial reception times of the satellite observation values in the multiple satellite observation files of the base station fed back the rough position are respectively 7:00, 8:00, 9:00, 10:00, and 11:00. The first positioning device determines that the target start time of the satellite observation is 8:00 and the target stop time is 10 according to the job start time 8:45 and the job end time 9:25 of the first job time information :00. The first positioning device determines the first satellite observation from the plurality of satellite observation files according to the initial reception time of the satellite observation value, the target start time 8:00 and the target stop time 10:00 of the satellite observation value The second satellite observation file corresponding to the file shall be: the satellite observation file corresponding to 8:00 and the satellite observation file corresponding to 9:00. Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time of the satellite observation value, and the initial reception time of the satellite observation value in the second satellite observation file is less than the satellite The target stop time of the observation.

In the case where the first positioning device is a device integrating a relay device and a solution server, after performing step S803, the first positioning device may also locate according to the first satellite observation file and the second satellite observation file The load of the mobile platform is at the location of the shooting timestamp.

Specifically, the method for the first positioning device to locate the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file may be: the first positioning device according to the first satellite The observation file and the second satellite observation file determine the position of the antenna phase center; the first positioning device obtains the offset of the position of the antenna phase center from the position of the load center; the first positioning device obtains the attitude of the aircraft; the first positioning The device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft; the first positioning device determines the load of the mobile platform at the shooting time according to the position compensation value and the position of the antenna phase center Poke location information. Further, the first positioning device determines the position of the antenna phase center according to the first satellite observation file and the second satellite observation file, and can use carrier positioning differential positioning technology to combine ephemeris data, the first satellite observation file, and the second satellite Observe the file and use forward filtering and inverse filtering to calculate the precise positioning of the mobile platform trajectory; then according to the time stamp of the mobile platform's load photographing, solve the position of the antenna phase center through an algorithm such as interpolation.

Optionally, after the first positioning device locates the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file, the first positioning device may also obtain the shooting time Poke the corresponding picture; then build the picture according to the load of the mobile platform at the position of the shooting timestamp and the picture corresponding to the shooting timestamp.

By implementing the method described in FIG. 8, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first task, and after determining the first task time information corresponding to the first task, it can The operation time information automatically acquires the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that by implementing the method described in FIG. 8, the first positioning device can automatically acquire the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform, which can improve the accuracy of acquiring the satellite observation file and improve the user experience.

Referring to FIG. 9, it is a flowchart of yet another information acquisition method provided by an embodiment of the present application. The method may be implemented based on the architecture shown in FIG. 2, the first positioning device described below may be the first positioning device in the system architecture shown in FIG. 2, and the target server described below may be the system architecture shown in FIG. The target server in. The method includes but is not limited to the following steps.

S901. The first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S501 in FIG. 5, and details are not described here.

S902. The first positioning device determines first operation time information corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S502 in FIG. 5, and details are not described here.

S903. The first positioning device sends the rough location of the mobile platform and/or the first operation time information in the first operation task to the target server.

Wherein, the target server may include a server that continuously operates a reference station system or a network positioning system.

S904. After receiving the rough location of the mobile platform and/or the first operation time information, the target server, according to the rough location of the mobile platform and/or the first operation time information in the first job task, The base station connected to the target server obtains a second satellite observation file corresponding to the first satellite observation file.

The second satellite observation file is a satellite observation file of a base station, and the first satellite observation file is a satellite observation file of a mobile platform corresponding to a first operation task.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files. For example, the second satellite observation file can generate a satellite observation file with a period of one hour. When the first satellite observation file is a satellite observation file of a mobile platform from 9:00 to 12:00, the first satellite observation file It can correspond to the satellite observation files from 9:00 to 10:00, the satellite observation files from 10:00 to 11:00, and the satellite observation files from 11:00 to 12:00 of the base station.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks. For example, the satellite observation file of the base station from 9:00 to 10:00 may correspond to the first satellite observation file of 9:00 to 10:00 of the first mobile platform working near the base station, and may also correspond to the The first satellite observation file of the second mobile platform working near the base station from 9:00 to 10:00 may also correspond to the first satellite observation of the third mobile platform working near the base station from 9:00 to 10:00 Documents, etc.

Optionally, the target server is connected to at least one base station. The target server obtains the second satellite observation corresponding to the first satellite observation file from the base station connected to the target server according to the rough position of the mobile platform and/or the first operation time information during the first operation task The manner of the file may be: the target server determines at least one distance between the rough location of the mobile platform and the at least one base station; the target server determines the target base station from the at least one base station according to the at least one distance; the target server determines the target base station according to the first A working time information, the second satellite observation file corresponding to the first satellite observation file is obtained from the target base station connected to the target server. The target server determines the base station corresponding to the smallest distance among the at least one distance as the target base station.

For example, the target server has a connection relationship with three base stations, which are the first base station, the second base station, and the third base station, respectively. First, the target server determines the rough location of the mobile platform during the first job task. After that, the target server determines the distance between the approximate location of the mobile platform and the three base stations based on the approximate location of the mobile platform and the locations of the three base stations. If the distance between the approximate location of the mobile platform and the first base station determined by the target server is 4 kilometers, the approximate location of the mobile platform and the second base station is 2 kilometers, and the approximate position of the mobile platform is the third The distance of the base station is 10 kilometers; then the target server uses the second base station corresponding to the minimum distance of 2 kilometers as the target base station, and obtains the second satellite observation file corresponding to the first satellite observation file from the second base station.

Of course, the first positioning device may also determine the target base station according to other suitable methods, for example, determining one or more base stations within a preset range as the target base station, so as to establish a connection relationship with one or more base stations, and select Or obtain a second satellite observation file corresponding to the first satellite observation file from multiple target base stations, which is not limited herein.

Specifically, the target base station includes multiple satellite observation files, and the satellite observation file includes the initial reception time of the satellite observation value. The target server may obtain the second satellite observation file corresponding to the first satellite observation file from the target base station connected to the target server according to the first operation time information by the target server according to the first operation The job start time point and job end time point of the time information determine the target start time and target stop time of the satellite observation value in the second satellite observation file; the target server receives the satellite observation value starting reception time, the The target start time of the satellite observation value and the target stop time of the satellite observation value, the second satellite observation file corresponding to the first satellite observation file is determined from the plurality of satellite observation files; wherein, the second satellite observation file The initial reception time of the satellite observation value of is greater than or equal to the target start time of the satellite observation value, and the initial reception time of the satellite observation value in the second satellite observation file is less than the target stop time of the satellite observation value.

Optionally, the second satellite observation file may be divided into a satellite observation file according to the hour, and the target start time of the satellite observation value is an hour that is less than or equal to the job start time point of the first job time information, The target stop time of the satellite observation value is an entire time that is greater than or equal to the job end time point of the first job time information. For example, the job start time included in the first job time information is 8:45, and the job end time point is 9:25; then the target start time of the satellite observation is a job less than the first job time information When the starting time is 8:45, the whole time is 8:00, then the target stop time of the satellite observation is greater than 10:00, the whole time of the job end time 9:25.

The following describes an example of the process in which the target server obtains the second satellite observation file corresponding to the first satellite observation file from the target base station connected to the target server according to the first operation time information. If the job start time point included in the first job time information is 8:45, and the job end time point is 9:25; the start receiving time of the satellite observation values in the multiple satellite observation files of the target base station are respectively 7:00, 8:00, 9:00, 10:00, 11:00. The target server determines that the target start time of the satellite observation is 8:00 and the target stop time is 10:00 according to the job start time 8:45 and the job end time 9:25 of the first job time information . The target server determines the first satellite from multiple satellite observation files of the target base station according to the initial reception time of the satellite observation, the target start time 8:00 and the target stop time 10:00 of the satellite observation The second satellite observation file corresponding to the observation file shall be: the satellite observation file corresponding to 8:00 and the satellite observation file corresponding to 9:00. Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time of the satellite observation value, and the initial reception time of the satellite observation value in the second satellite observation file is less than the satellite The target stop time of the observation.

S905. The target server sends the second satellite observation file to the first positioning device.

Correspondingly, the first positioning device receives the second satellite observation file sent by the target server.

In the case where the first positioning device is a device integrating a relay device and a calculation server, after the first positioning device receives the second satellite observation file sent by the target server, the first satellite observation file may also be used And the second satellite observation file locate the position of the load of the mobile platform at the shooting timestamp.

Optionally, the method for the first positioning device to locate the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file may be: the first positioning device according to the first The satellite observation file and the second satellite observation file determine the position of the antenna phase center; the first positioning device obtains the offset of the position of the antenna phase center from the load center position; the first positioning device obtains the attitude of the aircraft; the first The positioning device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft; the first positioning device determines the load of the mobile platform at the shooting according to the position compensation value and the position of the antenna phase center Timestamp location information. Further, the first positioning device determines the position of the antenna phase center according to the first satellite observation file and the second satellite observation file, and can use carrier positioning differential positioning technology to combine ephemeris data, the first satellite observation file, and the second satellite Observe the file and use forward filtering and inverse filtering to calculate the precise positioning of the mobile platform trajectory; then according to the time stamp of the mobile platform's load photographing, solve the position of the antenna phase center through an algorithm such as interpolation.

Optionally, after the first positioning device locates the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file, the first positioning device may also obtain the shooting time Poke the corresponding picture; then build the picture according to the load of the mobile platform at the position of the shooting timestamp and the picture corresponding to the shooting timestamp.

By implementing the method described in FIG. 8, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first task, and after determining the first task time information corresponding to the first task, it can The operation time information automatically acquires the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that by implementing the method described in FIG. 8, the first positioning device can automatically acquire the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform, which can improve the accuracy of acquiring the satellite observation file and improve the user experience.

Referring to FIG. 10, it is a flowchart of another information acquisition method provided by an embodiment of the present application. This method may be implemented based on the architecture shown in FIG. 3, and the first positioning device described below may be the first positioning device in the system architecture shown in FIG. Specifically, the first positioning device may be a relay device, and the second positioning device may be a solution server. The method includes but is not limited to the following steps.

S1001: The first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S501 in FIG. 5, and details are not described here.

S1002. The first positioning device determines first operation time information corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S502 in FIG. 5, and details are not described here.

S1003. The first positioning device automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information. The specific implementation of this step may refer to the implementation of S503 in FIG. 5 and will not be repeated here.

S1004. The first positioning device sends the first satellite observation file and the second satellite observation file to the second positioning device.

S1005. After receiving the first satellite observation file and the second satellite observation file, the second positioning device performs calculation according to the first satellite observation file and the second satellite observation file to obtain the load of the mobile platform at The location information of the shooting timestamp.

Specifically, the manner in which the second positioning device locates the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file may be: the second positioning device according to the first satellite The observation file and the second satellite observation file determine the position of the antenna phase center; the second positioning device obtains the offset of the position of the antenna phase center from the load center position; the second positioning device obtains the attitude of the aircraft; the second positioning The device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft; the second positioning device determines the load of the mobile platform at the shooting time according to the position compensation value and the position of the antenna phase center Poke location information.

S1006. The second positioning device sends the location information of the load of the mobile platform at the shooting timestamp to the first device.

S1007. After receiving the location information of the load of the mobile platform at the shooting timestamp, the first positioning device acquires a picture corresponding to the shooting timestamp.

S1008. The first positioning device builds a picture according to the location information of the load of the mobile platform at the shooting time stamp and the picture corresponding to the shooting time stamp.

By implementing the method described in FIG. 10, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first task, and after determining the first task time information corresponding to the first task, it can The operation time information automatically acquires the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that by implementing the method described in FIG. 10, the first positioning device can automatically acquire the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform, which can improve the accuracy of acquiring the satellite observation file and improve the user experience.

Referring to FIG. 11, it is a flowchart of yet another information acquisition method provided by an embodiment of the present application. The method may be implemented based on the architecture shown in FIG. 4, and the first positioning device described below may be the first positioning device in the system architecture shown in FIG. Specifically, the first positioning device may be a solution server, and the method includes but is not limited to the following steps.

S1101: The first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task.

Specifically, the manner in which the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task may be: the first positioning device receives the first position of the mobile platform corresponding to the first operation task sent by the relay device. A satellite observation file. The first satellite observation file is received by the relay device from the mobile platform corresponding to the first operation task.

Wherein, the first satellite observation file includes a shooting time stamp of the mobile platform and satellite observation data corresponding to the shooting time stamp. In actual operation, the mobile terminal stores the satellite observation data in a binary format on the SD card of the load of the mobile platform (the load is the shooting device of the mobile platform, for example, camera, camera, etc.). Specifically, the load Time synchronization with real-time kinematic (RTK) module pulses per second (PPS), so that the camera and RTK module are in the same time frame (for example, coordinated universal time (UTC) ) System, etc.). This time synchronization method can determine the time when the satellite observation data is acquired more accurately. Specifically, in the process of storing the satellite observation file, the mobile platform stores the shooting time stamp of the mobile platform and the satellite observation data corresponding to the shooting time stamp.

Optionally, the first satellite observation file may further include the first operation time information, and the first operation time information includes an operation start time point and an operation end time point of the first operation task. Specifically, in the process of storing the satellite observation file, the mobile platform also stores the first operation time information corresponding to the satellite observation file.

S1102. The first positioning device determines first operation time information corresponding to the first operation task. For the specific implementation of this step, reference may be made to the implementation of S502 in FIG. 5, and details are not described here.

S1103. The first positioning device automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information. The specific implementation of this step may refer to the implementation of S503 in FIG. 5 and will not be repeated here.

S1104. The first positioning device positions the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file.

Specifically, the manner in which the first positioning device locates the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file may be: the first positioning device according to the first satellite The observation file and the second satellite observation file determine the position of the antenna phase center; the first positioning device obtains the offset of the position of the antenna phase center from the position of the load center; the first positioning device obtains the attitude of the aircraft; the first positioning The device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft; the first positioning device determines the load of the mobile platform at the shooting time according to the position compensation value and the position of the antenna phase center Poke location information.

S1105. The first positioning device sends the load of the mobile platform at the location of the shooting time stamp to the relay device.

S1106. After receiving the location information of the load of the mobile platform at the shooting timestamp, the relay device acquires a picture corresponding to the shooting timestamp.

S1107. The relay device builds a picture according to the location information of the load of the mobile platform at the shooting time stamp and the picture corresponding to the shooting time stamp.

By implementing the method described in FIG. 11, the first positioning device obtains the first satellite observation file of the mobile platform corresponding to the first operation task, and after determining the first operation time information corresponding to the first operation task, it can The operation time information automatically acquires the second satellite observation file of the base station corresponding to the first satellite observation file. It can be seen that by implementing the method described in FIG. 11, the first positioning device can automatically acquire the satellite observation file of the base station corresponding to the satellite observation file of the mobile platform, which can improve the accuracy of acquiring the satellite observation file and improve the user experience.

12 is a schematic structural diagram of a positioning device provided by an embodiment of the present application. Wherein, the positioning device includes a memory 1201, a processor 1202 and a communication interface 1203. Optionally, the memory 1201, the processor 1202 and the communication interface 1203 may be connected through a bus system 1204.

The memory 1201 is used to store program instructions. The memory 1201 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 1201 may also include non-volatile memory (non-volatile memory), such as flash memory (flash) memory), solid-state drive (SSD), etc.; the memory 1201 may also include a combination of the aforementioned types of memory.

The processor 1202 may include a central processing unit (central processing unit, CPU). The processor 1302 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or the like. The above PLD may be a field-programmable gate array (field-programmable gate array, FPGA), a general-purpose array logic (generic array logic, GAL), and so on. The processor 1202 calls the program instructions in the memory 1201 to perform the following steps:

Obtain the first satellite observation file of the mobile platform corresponding to the first operation task, where the first satellite observation file includes the shooting time stamp of the mobile platform and satellite observation data corresponding to the shooting time stamp;

Determine the first operation time information corresponding to the first operation task;

Automatically obtain a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, the second satellite observation file is a satellite observation file of the base station, the second satellite observation file and the first satellite observation file It is used to calculate the position information of the load of the mobile platform at the shooting timestamp, and the load is the shooting device of the mobile platform. Optionally, the first job time information includes a job start time point and a job end time point of the first job task.

Optionally, the first satellite observation file further includes the first operation time information, and the processor is further configured to: obtain the first operation time information corresponding to the first operation task from the first satellite observation file.

Optionally, the processor is further configured to: determine the earliest shooting timestamp and the latest shooting timestamp from the first satellite observation file; determine the time based on the earliest shooting timestamp and the latest shooting timestamp The first operation time information corresponding to the first operation task.

Optionally, the processor is further configured to: determine the earliest shooting timestamp as the job start time point of the first job time information; determine the latest shooting timestamp as the first job time information At the end of the job.

Optionally, the processor is further configured to: according to the first operation time information, obtain a second satellite observation file corresponding to the first satellite observation file from a base station connected to the positioning device.

Optionally, the positioning device is connected to at least one base station, and the first satellite observation file further includes an approximate location of the mobile platform corresponding to the first operation task; wherein, the processor is further configured to: determine an overview of the mobile platform At least one distance between the location and the at least one base station; determining a target base station from the at least one base station according to the at least one distance; obtaining the first base station from the target base station connected to the positioning device according to the first operating time information The second satellite observation file corresponding to the satellite observation file.

Optionally, the processor is further configured to: determine the base station corresponding to the smallest distance among the at least one distance as the target base station.

Optionally, the processor is further configured to: send the first operating time information to the target base station connected to the positioning device; receive the first satellite observation file fed back by the target base station according to the first operating time information The second satellite observation file.

Optionally, the processor is further configured to: receive a plurality of satellite observation files from the target base station connected to the positioning device; and obtain the first satellite observations from the plurality of satellite observation files according to the first operation time information The second satellite observation file corresponding to the file.

Optionally, the processor is further configured to: obtain a second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information.

Optionally, the processor is further configured to: send the rough location of the mobile platform in the first job task and/or the first job time information to the target server; receive the target server according to the first job task The second satellite observation file corresponding to the first satellite observation file fed back by the rough location of the mobile platform and/or the first operation time information.

Optionally, the processor is further configured to: send the rough position of the mobile platform in the first job task to the target server; receive the base station's feedback of the target server according to the rough position of the mobile platform in the first job task A plurality of satellite observation files; obtaining a second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information.

Optionally, the target base station includes multiple satellite observation files, and the satellite observation file includes the initial reception time of the satellite observation value, and the processor is further configured to: based on the operation start time point of the first operation time information and The target start time and target stop time are determined at the end of the operation; the first satellite observation is determined from the multiple satellite observation files based on the initial reception time of the satellite observations, the target start time and the target stop time The second satellite observation file corresponding to the file; wherein, the start reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, the start of the satellite observation value in the second satellite observation file The reception time is less than the target stop time.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks.

Optionally, the processor is further configured to: send the first satellite observation file and the second satellite observation file to another positioning device, and the other positioning device is used for according to the first satellite observation file and the second satellite The observation file is solved to obtain the location information of the load of the mobile platform at the shooting timestamp.

Optionally, the processor is further configured to: receive position information of the load of the mobile platform fed by the another positioning device at the shooting time stamp.

Optionally, the processor is also used to: acquire a picture corresponding to the shooting timestamp; construct a picture according to the location information of the load of the mobile platform at the shooting timestamp and the picture corresponding to the shooting timestamp.

Optionally, the positioning device is a relay device, and the other positioning device is a solution server.

Optionally, the processor is further configured to locate the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file.

Optionally, the processor is also used to: determine the position of the antenna phase center according to the first satellite observation file and the second satellite observation file; obtain the offset of the antenna phase center position from the load center position; obtain the aircraft Attitude; according to the offset and the aircraft attitude, determine the position compensation value of the load of the mobile platform; according to the position compensation value and the position of the antenna phase center, determine the position information of the load of the mobile platform at the shooting timestamp .

Optionally, the processor is also used to send the load of the mobile platform at the location of the shooting time stamp to the relay device.

Optionally, the processor is specifically configured to: receive the first satellite observation file of the mobile platform corresponding to the first job task sent by the relay device.

Optionally, the first positioning device is a solution server.

Optionally, the processor is also used to: acquire a picture corresponding to the shooting timestamp; construct a picture according to the load of the mobile platform at the position of the shooting timestamp and the picture corresponding to the shooting timestamp.

Based on the same inventive concept, the principle of the first positioning device provided in the embodiments of the present application to solve the problem is similar to the method embodiment of the present application, so the implementation of the first positioning device can refer to the implementation of the method, and the beneficial effects of the first positioning device can refer to The beneficial effects of the method are described briefly and will not be repeated here.

13 is a schematic structural diagram of a base station provided by an embodiment of the present application. The base station includes a memory 1301, a processor 1302, and a communication interface 1303. Optionally, the memory 1301, the processor 1302, and the communication interface 1303 may be connected through the bus system 1304.

The memory 1301 is used to store program instructions. The memory 1301 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 1301 may also include non-volatile memory (non-volatile memory), such as flash memory (flash) memory), a solid-state drive (SSD), etc.; the memory 1301 may also include a combination of the aforementioned types of memory.

The processor 1302 may include a central processing unit (CPU). The processor 1302 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or the like. The above PLD may be a field-programmable gate array (field-programmable gate array, FPGA), a general-purpose array logic (generic array logic, GAL), and so on. The processor 1302 calls the program instructions in the memory 1301 to perform the following steps:

Receive first operation time information from a first positioning device connected to the base station.

According to the first operation time information, a second satellite observation file corresponding to the first satellite observation file is automatically obtained, and the first satellite observation file is a satellite observation file of the mobile platform corresponding to the first operational task.

Sending the second satellite observation file to the first positioning device.

Optionally, the first job time information includes a job start time point and a job end time point of the first job task.

Optionally, the base station includes a plurality of satellite observation files, and the satellite observation file includes the initial reception time of the satellite observation value, and the processor is specifically used to: the operation start time point and the operation according to the first operation time information The target start time and target stop time are determined at the end time point; the first satellite observation file is determined from the multiple satellite observation files according to the initial reception time of the satellite observation value, the target start time and the target stop time Corresponding second satellite observation file; wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, and the initial reception time of the satellite observation value in the second satellite observation file The time is less than the target stop time.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks.

Optionally, the processor is also used to: estimate the position of the base station to obtain the estimated position; receive the absolute position of the base station input by the user; determine whether the deviation between the estimated position and the absolute position exceeds Preset distance; if not, write the absolute position to the satellite observation file of the base station.

Optionally, the processor is further configured to: if the deviation between the estimated position and the absolute position exceeds a preset distance, prompt the base station to input an error in the absolute position.

Optionally, the processor is also used to generate multiple satellite observation files at a preset time interval.

Optionally, the processor is also used to: within the period of generating the satellite observation file, if the base station restarts or moves, it should be used to regenerate the satellite observation file.

Based on the same inventive concept, the principle provided by the base station in the embodiments of the present application to solve the problem is similar to the method embodiment of the present application. Therefore, the implementation of the base station may refer to the implementation of the method, and the beneficial effects of the base station may refer to the beneficial effects of the method. I will not repeat them here.

14 is a schematic structural diagram of a target server provided by an embodiment of the present application. The target server includes a storage 1401, a processor 1402, and a communication interface 1403. Optionally, the memory 1401, the processor 1402 and the communication interface 1403 may be connected through the bus system 1404.

The memory 1401 is used to store program instructions. The memory 1401 may include volatile memory (volatile memory), such as random-access memory (RAM); the memory 1401 may also include non-volatile memory (non-volatile memory), such as flash memory (flash) memory), solid-state drive (SSD), etc.; the memory 1401 may also include a combination of the aforementioned types of memory.

The processor 1402 may include a central processing unit (CPU). The processor 1402 may further include a hardware chip. The above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (programmable logic device, PLD), or the like. The PLD can be a field-programmable gate array (field-programmable gate array, FPGA), a general-purpose array logic (generic array logic, GAL), and so on. The processor 1402 calls the program instructions in the memory 1401 to perform the following steps:

Receiving the rough location of the mobile platform in the first operation task and/or the first operation time information sent by the first positioning device;

Obtain the second satellite observation file corresponding to the first satellite observation file from the base station connected to the target server according to the rough position of the mobile platform and/or the first operation time information in the first operation task, the first The second satellite observation file is the satellite observation file of the base station, and the first satellite observation file is the satellite observation file of the mobile platform corresponding to the first operation task;

Sending the second satellite observation file to the first positioning device.

Optionally, the target server is connected to at least one base station, and the processor is specifically configured to: determine at least one distance between the approximate location of the mobile platform and the at least one base station; and determine the target from the at least one base station according to the at least one distance Base station; according to the first operation time information, obtain the second satellite observation file corresponding to the first satellite observation file from the target base station connected to the target server.

Optionally, the processor is specifically configured to determine the base station corresponding to the smallest distance among the at least one distance as the target base station.

Optionally, the target base station includes a plurality of satellite observation files, and the satellite observation file includes the initial reception time of the satellite observation value, and the processor is specifically configured to: according to the operation start time point of the first operation time information and The target start time and target stop time are determined at the end of the job; according to the initial reception time of the satellite observations, the target start time and the target stop time, the first determination from the multiple satellite observation files The second satellite observation file corresponding to the satellite observation file; where the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, the satellite observation value in the second satellite observation file The start receiving time is less than the target stop time.

Optionally, the first satellite observation file corresponds to multiple second satellite observation files.

Optionally, the second satellite observation file corresponds to the first satellite observation file of multiple mobile platforms respectively corresponding to multiple operation tasks.

Optionally, the target server includes a server that continuously operates a reference station system or a network positioning system. Based on the same inventive concept, the principle of the problem solving provided by the target server in the embodiments of the present application is similar to the method embodiment of the present application, so the implementation of the target server can refer to the implementation of the method, and the beneficial effects of the target server can refer to the beneficial effects of the method. Brief description, no more details here.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the sequence of actions described. Because according to this application, some steps may be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

Those skilled in the art should be aware that in one or more of the above examples, the functions described in this application may be implemented by hardware, software, firmware, or any combination thereof. When implemented in software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media includes computer storage media and communication media, where communication media includes any medium that facilitates transfer of a computer program from one place to another. The storage medium may be any available medium that can be accessed by a general-purpose or special-purpose computer.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of this application in detail. It should be understood that the above descriptions are only specific implementations of this application and are not intended to limit the scope of this application. The scope of protection, any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of this application, shall be included in the scope of protection of this application.

Claims (84)

  1. An information acquisition method, characterized in that the method includes:
    The first positioning device obtains a first satellite observation file of the mobile platform corresponding to the first operation task, where the first satellite observation file includes a shooting time stamp of the mobile platform and satellite observation data corresponding to the shooting time stamp;
    The first positioning device determines first operation time information corresponding to the first operation task;
    The first positioning device automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, the second satellite observation file is a satellite observation file of a base station, and the second The satellite observation file and the first satellite observation file are used to calculate the position information of the load of the mobile platform at the shooting timestamp, and the load is the shooting device of the mobile platform.
  2. The method according to claim 1, wherein the first job time information includes a job start time point and a job end time point of the first job task.
  3. The method according to claim 2, wherein the first satellite observation file further includes the first operation time information, and the first positioning device determines the first operation time information corresponding to the first operation task ,include:
    The first positioning device obtains the first operation time information corresponding to the first operation task from the first satellite observation file.
  4. The method according to claim 2, wherein the first positioning device determining the first operation time information corresponding to the first operation task includes:
    The first positioning device determines the earliest shooting timestamp and the latest shooting timestamp from the first satellite observation file;
    The first positioning device determines the first job time information corresponding to the first job task according to the earliest shooting time stamp and the latest shooting time stamp.
  5. The method according to claim 4, wherein the first positioning device determines the first job corresponding to the first job task according to the earliest shooting timestamp and the latest shooting timestamp Time information, including:
    The first positioning device determines the earliest shooting timestamp as the starting time point of the first operation time information;
    The first positioning device determines the latest shooting timestamp as the job end time point of the first job time information.
  6. The method according to any one of claims 1-5, wherein the first positioning device obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, include:
    The first positioning device obtains the second satellite observation file corresponding to the first satellite observation file from the base station connected to the first positioning device according to the first operation time information.
  7. The method according to claim 6, wherein the first positioning device is connected to at least one base station, and the first satellite observation file further includes an approximate location of the mobile platform corresponding to the first operation task;
    Wherein, the first positioning device acquiring the second satellite observation file corresponding to the first satellite observation file from the base station connected to the first positioning device according to the first operation time information includes:
    The first positioning device determines at least one distance between the rough location of the mobile platform and the at least one base station;
    The first positioning device determines a target base station from the at least one base station according to the at least one distance;
    The first positioning device obtains the second satellite observation file corresponding to the first satellite observation file from the target base station connected to the first positioning device according to the first operation time information.
  8. The method according to claim 7, wherein the first positioning device determining the target base station from the at least one base station according to the at least one distance comprises:
    The first positioning device determines the base station corresponding to the smallest distance among the at least one distance as the target base station.
  9. The method according to claim 7, characterized in that, according to the first operation time information, the corresponding to the first satellite observation file is acquired from the target base station connected to the first positioning device The second satellite observation file includes:
    The first positioning device sends the first operation time information to the target base station connected to the first positioning device;
    The first positioning device receives a second satellite observation file corresponding to the first satellite observation file fed back by the target base station according to the first operation time information.
  10. The method according to claim 7, characterized in that, according to the first operation time information, the corresponding to the first satellite observation file is acquired from the target base station connected to the first positioning device The second satellite observation file includes:
    The first positioning device receives multiple satellite observation files from the target base station connected to the first positioning device;
    The first positioning device obtains the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information.
  11. The method according to any one of claims 1-5, wherein the first positioning device obtains a second corresponding to the first satellite observation file according to the first operation time information Satellite observation documents, including:
    The first positioning device obtains a second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information.
  12. The method according to claim 11, wherein the first positioning device acquiring the second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information includes:
    The first positioning device sends the rough location of the mobile platform and/or the first operation time information in the first operation task to a target server;
    The first positioning device receives a second corresponding to the first satellite observation file fed back by the target server according to the rough position of the mobile platform and/or the first operation time information in the first operation task Satellite observation files.
  13. The method according to claim 11, wherein the first positioning device acquiring the second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information includes:
    The first positioning device sends the rough location of the mobile platform in the first job task to the target server;
    The first positioning device receives a plurality of satellite observation files of the base station fed back by the target server according to the rough position of the mobile platform in the first operation task;
    The first positioning device obtains a second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information.
  14. The method according to claim 10 or 13, wherein the target base station includes a plurality of satellite observation files, and the satellite observation file includes the initial reception time of satellite observations, and the first positioning device The first operation time information acquiring the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files includes:
    The first positioning device determines a target start time and a target stop time according to a job start time point and a job end time point of the first job time information;
    The first positioning device determines, from the plurality of satellite observation files, corresponding to the first satellite observation file according to the start reception time of the satellite observation value, the target start time, and the target stop time Second satellite observation file;
    Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, and the initial reception time of the satellite observation value in the second satellite observation file is less than the target Stop time.
  15. The method according to claim 1, wherein the first satellite observation file corresponds to a plurality of the second satellite observation files.
  16. The method according to claim 1, wherein the second satellite observation file corresponds to a first satellite observation file of a plurality of mobile platforms corresponding to a plurality of operation tasks, respectively.
  17. The method according to claim 1, wherein the method further comprises:
    The first positioning device sends the first satellite observation file and the second satellite observation file to a second positioning device, and the second positioning device is configured to use the first satellite observation file and the second satellite The observation file is solved to obtain the position information of the load of the mobile platform at the shooting timestamp.
  18. The method according to claim 17, wherein the method further comprises:
    The first positioning device receives position information of the load of the mobile platform fed by the second positioning device at the shooting timestamp.
  19. The method of claim 18, further comprising:
    The first positioning device obtains the picture corresponding to the shooting timestamp;
    The first positioning device builds a picture according to the position information of the load of the mobile platform at the shooting time stamp and the picture corresponding to the shooting time stamp.
  20. The method according to any one of claims 17-19, wherein the first positioning device is a relay device, and the second positioning device is a solution server.
  21. The method according to claim 1, wherein the method further comprises:
    The first positioning device positions the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file.
  22. The method according to claim 21, wherein the first positioning device locates the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file ,include:
    The first positioning device determines the position of the antenna phase center according to the first satellite observation file and the second satellite observation file;
    The first positioning device obtains the offset of the position of the phase center of the antenna from the position of the load center;
    The first positioning device obtains the attitude of the aircraft;
    The first positioning device determines the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft;
    The first positioning device determines the position information of the load of the mobile platform at the shooting timestamp according to the position compensation value and the position of the antenna phase center.
  23. The method according to claim 22, wherein the method further comprises:
    The first positioning device sends the position of the load of the mobile platform at the shooting time stamp to the relay device.
  24. The method according to claim 23, wherein the first positioning device acquiring the first satellite observation file of the mobile platform corresponding to the first operation task includes:
    The first positioning device receives the first satellite observation file of the mobile platform corresponding to the first job task sent by the relay device.
  25. The method according to any one of claims 21-23, wherein the first positioning device is a solution server.
  26. The method according to claim 22, wherein the method further comprises:
    The first positioning device obtains the picture corresponding to the shooting timestamp;
    The first positioning device builds a picture according to the load of the mobile platform at the position of the shooting time stamp and the picture corresponding to the shooting time stamp.
  27. An information acquisition method, characterized in that the method includes:
    The base station receives first operation time information from the first positioning device connected to the base station;
    The base station automatically obtains a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, where the first satellite observation file is a satellite observation file of the mobile platform corresponding to the first operation task;
    The base station sends the second satellite observation file to the first positioning device.
  28. The method according to claim 27, wherein the first job time information includes a job start time point and a job end time point of the first job task.
  29. The method according to claim 28, wherein the base station includes a plurality of satellite observation files, the satellite observation file includes an initial reception time of satellite observation values, and the base station bases on the first operation time information Automatically obtain the second satellite observation file corresponding to the first satellite observation file, including:
    The base station determines the target start time and target stop time of the satellite observation value in the second satellite observation file according to the task start time point and the task end time point of the first task time information;
    The base station determines the first from the plurality of satellite observation files according to the initial reception time of the satellite observation value, the target start time of the satellite observation value and the target stop time of the satellite observation value The second satellite observation file corresponding to the satellite observation file;
    Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time of the satellite observation value, and the initial reception time of the satellite observation value in the second satellite observation file The target stop time less than the satellite observation value.
  30. The method according to any one of claims 27-29, wherein the first satellite observation file corresponds to a plurality of the second satellite observation files.
  31. The method according to any one of claims 27-29, wherein the second satellite observation file corresponds to a first satellite observation file of multiple mobile platforms corresponding to multiple operation tasks, respectively.
  32. The method of claim 27, further comprising:
    The base station estimates the position of the base station to obtain the estimated position;
    The base station receives the absolute position of the base station input by the user;
    The base station determines whether the deviation between the estimated position and the absolute position exceeds a preset distance;
    If not, the absolute position is written into the satellite observation file of the base station.
  33. The method according to claim 32, wherein the method further comprises:
    If the deviation between the estimated position and the absolute position exceeds a preset distance, it prompts that the absolute position of the base station is entered incorrectly.
  34. The method according to claim 32 or 33, wherein the method further comprises:
    The base station generates multiple satellite observation files at a preset time interval.
  35. The method according to claim 34, wherein the method further comprises:
    Within the period of generating the satellite observation file, if the base station restarts or moves, the satellite observation file is regenerated.
  36. An information acquisition method, characterized in that the method includes:
    The target server receives the rough location of the mobile platform in the first operation task and/or the first operation time information sent by the first positioning device;
    The target server obtains the first satellite observation file corresponding to the first satellite observation file from the base station connected to the target server according to the rough location of the mobile platform and/or the first operation time information in the first task The second satellite observation file is the satellite observation file of the base station, and the first satellite observation file is the satellite observation file of the mobile platform corresponding to the first operation task;
    The target server sends the second satellite observation file to the first positioning device.
  37. The method according to claim 36, wherein the target server is connected to at least one base station, and the target server is based on an approximate location of the mobile platform and/or the first Working time information, obtaining the second satellite observation file corresponding to the first satellite observation file from the base station connected to the target server, including:
    The target server determines at least one distance between the approximate location of the mobile platform and the at least one base station;
    The target server determines a target base station from the at least one base station according to the at least one distance;
    The target server obtains the second satellite observation file corresponding to the first satellite observation file from the target base station connected to the target server according to the first operation time information.
  38. The method according to claim 37, wherein the target server determining the target base station from the at least one base station according to the at least one distance comprises:
    The target server determines the base station corresponding to the smallest distance among the at least one distance as the target base station.
  39. The method according to claim 37 or 38, wherein the target base station includes a plurality of satellite observation files, and the satellite observation file includes an initial reception time of satellite observation values, and the target server A working time information, obtaining the second satellite observation file corresponding to the first satellite observation file from the target base station connected to the target server, including:
    The target server determines the target start time and target stop time of the satellite observation value in the second satellite observation file according to the job start time point and the job end time point of the first job time information;
    The target server determines the first data from the plurality of satellite observation files according to the initial reception time of the satellite observation value, the target start time of the satellite observation value and the target stop time of the satellite observation value The second satellite observation file corresponding to the one satellite observation file;
    Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time of the satellite observation value, and the initial reception time of the satellite observation value in the second satellite observation file The target stop time less than the satellite observation value.
  40. The method according to any one of claims 36-38, wherein the first satellite observation file corresponds to a plurality of the second satellite observation files.
  41. The method according to any one of claims 36-38, wherein the second satellite observation file corresponds to a first satellite observation file of a plurality of mobile platforms corresponding to a plurality of operation tasks, respectively.
  42. The method according to any one of claims 36-38, wherein the target server includes a server that continuously operates a reference station system or a network positioning system.
  43. A positioning device, characterized in that the positioning device includes: a memory, a processor and a communication interface, wherein:
    The memory is used to store program instructions;
    The processor calls the program instructions for:
    Obtain a first satellite observation file of the mobile platform corresponding to the first operation task, where the first satellite observation file includes a shooting time stamp of the mobile platform and satellite observation data corresponding to the shooting time stamp;
    Determining first operation time information corresponding to the first operation task;
    Automatically obtain a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, the second satellite observation file is a satellite observation file of a base station, the second satellite observation file and the The first satellite observation file is used to calculate the position information of the load of the mobile platform at the shooting timestamp, and the load is the shooting device of the mobile platform.
  44. The positioning device according to claim 43, wherein the first job time information includes a job start time point and a job end time point of the first job task.
  45. The positioning device according to claim 44, wherein the first satellite observation file further includes the first operation time information, and the processor is further configured to:
    Acquiring the first operation time information corresponding to the first operation task from the first satellite observation file.
  46. The positioning device according to claim 44, wherein the processor is further configured to:
    Determining the earliest shooting timestamp and the latest shooting timestamp from the first satellite observation file;
    The first job time information corresponding to the first job task is determined according to the earliest shooting timestamp and the latest shooting timestamp.
  47. The positioning device according to claim 46, wherein the processor is further configured to:
    Determine the earliest shooting timestamp as the starting time point of the first operation time information;
    The latest shooting timestamp is determined to be the job end time point of the first job time information.
  48. The positioning device according to any one of claims 43 to 47, wherein the processor is further configured to:
    According to the first operation time information, obtain a second satellite observation file corresponding to the first satellite observation file from a base station connected to the positioning device.
  49. The positioning device according to claim 48, wherein the positioning device is connected to at least one base station, and the first satellite observation file further includes an approximate location of the mobile platform corresponding to the first operation task;
    Among them, the processor is also used for:
    Determining at least one distance between the approximate location of the mobile platform and the at least one base station;
    Determine a target base station from the at least one base station according to the at least one distance;
    According to the first operation time information, obtain a second satellite observation file corresponding to the first satellite observation file from the target base station connected to the positioning device.
  50. The positioning device according to claim 49, wherein the processor is further configured to:
    The base station corresponding to the smallest distance among the at least one distance is determined as the target base station.
  51. The positioning device according to claim 49, wherein the processor is further configured to:
    Sending the first operation time information to the target base station connected to the positioning device;
    Receiving a second satellite observation file corresponding to the first satellite observation file fed back by the target base station according to the first operation time information.
  52. The method according to claim 49, wherein the processor is further configured to:
    Receiving multiple satellite observation files from the target base station connected to the positioning device;
    Obtain the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information.
  53. The positioning device according to any one of claims 43 to 47, wherein the processor is further configured to:
    Obtain the second satellite observation file corresponding to the first satellite observation file from the target server according to the first operation time information.
  54. The positioning device according to claim 53, wherein the processor is further configured to:
    Send the rough location of the mobile platform and/or the first operation time information in the first operation task to the target server;
    Receiving a second satellite observation file corresponding to the first satellite observation file fed back by the target server according to the rough location of the mobile platform and/or the first operation time information in the first task.
  55. The positioning device according to claim 53, wherein the processor is further configured to:
    Send the rough location of the mobile platform in the first job task to the target server;
    Receiving a plurality of satellite observation files of the base station fed back by the target server according to the rough position of the mobile platform in the first operation task;
    Obtain a second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the first operation time information.
  56. The positioning device according to claim 52 or 55, wherein the target base station includes a plurality of satellite observation files, and the satellite observation file includes the initial reception time of satellite observation values, and the processor is further :
    Determine a target start time and a target stop time according to the job start time point and the job end time point of the first job time information;
    Determine the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the initial reception time of the satellite observation value, the target start time and the target stop time;
    Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, and the initial reception time of the satellite observation value in the second satellite observation file is less than the target Stop time.
  57. The positioning device according to claim 43, wherein the first satellite observation file corresponds to a plurality of the second satellite observation files.
  58. The positioning device according to claim 43, wherein the second satellite observation file corresponds to a first satellite observation file of a plurality of mobile platforms respectively corresponding to a plurality of operation tasks.
  59. The positioning device according to claim 43, wherein the processor is further configured to:
    Sending the first satellite observation file and the second satellite observation file to another positioning device, where the other positioning device is used for solving based on the first satellite observation file and the second satellite observation file, To obtain the location information of the load of the mobile platform at the shooting timestamp.
  60. The positioning device according to claim 59, wherein the processor is further configured to:
    Receiving position information of the load of the mobile platform at the shooting timestamp fed back by the another positioning device.
  61. The positioning device according to claim 60, wherein the processor is further configured to:
    Obtaining the picture corresponding to the shooting timestamp;
    Build a picture according to the location information of the shooting timestamp and the picture corresponding to the shooting timestamp according to the load of the mobile platform.
  62. The positioning device according to any one of claims 59 to 61, wherein the positioning device is a relay device, and the other positioning device is a solution server.
  63. The positioning device according to claim 43, wherein the processor is further configured to:
    Locating the position of the load of the mobile platform at the shooting timestamp according to the first satellite observation file and the second satellite observation file.
  64. The positioning device according to claim 63, wherein the processor is further configured to:
    Determine the position of the antenna phase center according to the first satellite observation file and the second satellite observation file;
    Obtaining the offset of the position of the antenna phase center from the position of the load center;
    Get the attitude of the aircraft;
    Determine the position compensation value of the load of the mobile platform according to the offset and the attitude of the aircraft;
    According to the position compensation value and the position of the antenna phase center, position information of the load of the mobile platform at the shooting time stamp is determined.
  65. The positioning device according to claim 64, wherein the processor is further configured to:
    Sending the load of the mobile platform at the location of the shooting time stamp to the relay device.
  66. The positioning device according to claim 65, wherein the processor is specifically configured to:
    Receiving the first satellite observation file of the mobile platform corresponding to the first job task sent by the relay device.
  67. The positioning device according to any one of claims 63 to 65, wherein the positioning device is a solution server.
  68. The positioning device according to claim 64, wherein the processor is further configured to:
    Obtaining the picture corresponding to the shooting timestamp;
    Build a picture according to the load of the mobile platform at the position of the shooting time stamp and the picture corresponding to the shooting time stamp.
  69. A base station, characterized in that the base station includes a processor, a memory and a communication interface, wherein:
    The memory is used to store program instructions;
    The processor calls the program instructions for:
    Receiving first operation time information from a first positioning device connected to the base station;
    Automatically obtain a second satellite observation file corresponding to the first satellite observation file according to the first operation time information, where the first satellite observation file is a satellite observation file of the mobile platform corresponding to the first operation task;
    Sending the second satellite observation file to the first positioning device.
  70. The base station according to claim 69, wherein the first operation time information includes an operation start time point and an operation end time point of the first operation task.
  71. The base station according to claim 70, wherein the base station includes a plurality of satellite observation files, and the satellite observation file includes the initial reception time of satellite observation values, and the processor is specifically configured to:
    Determine a target start time and a target stop time according to the job start time point and the job end time point of the first job time information;
    Determine the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the initial reception time of the satellite observation value, the target start time and the target stop time;
    Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, and the initial reception time of the satellite observation value in the second satellite observation file is less than the target Stop time.
  72. The base station according to any one of claims 69 to 71, wherein the first satellite observation file corresponds to a plurality of the second satellite observation files.
  73. The base station according to any one of claims 69 to 71, wherein the second satellite observation file corresponds to a first satellite observation file of a plurality of mobile platforms corresponding to a plurality of operation tasks, respectively.
  74. The base station according to claim 69, wherein the processor is further configured to:
    Predicting the position of the base station to obtain the estimated position;
    Receiving the absolute position of the base station input by the user;
    Determine whether the deviation between the estimated position and the absolute position exceeds a preset distance;
    If not, the absolute position is written into the satellite observation file of the base station.
  75. The base station according to claim 74, wherein the processor is further configured to:
    If the deviation between the estimated position and the absolute position exceeds a preset distance, it prompts that the absolute position of the base station is entered incorrectly.
  76. The base station according to claim 74 or 75, wherein the processor is further used to:
    Generate multiple satellite observation files at preset time intervals.
  77. The base station according to claim 76, wherein the processor is further configured to:
    Within the period of generating the satellite observation file, if the base station restarts or moves, the satellite observation file is regenerated.
  78. A target server, characterized in that the target server includes a processor, a memory and a communication interface, wherein:
    The memory is used to store program instructions;
    The processor calls the program instructions for:
    Receiving the rough location of the mobile platform and/or the first operation time information in the first operation task sent by the first positioning device;
    Acquiring the second satellite corresponding to the first satellite observation file from the base station connected to the target server according to the rough position of the mobile platform and/or the first operation time information in the first operation task An observation file, the second satellite observation file is a satellite observation file of a base station, and the first satellite observation file is a satellite observation file of a mobile platform corresponding to a first operation task;
    Sending the second satellite observation file to the first positioning device.
  79. The target server according to claim 78, wherein the target server is connected to at least one base station, and the processor is specifically configured to:
    Determining at least one distance between the approximate location of the mobile platform and the at least one base station;
    Determine a target base station from the at least one base station according to the at least one distance;
    According to the first operation time information, obtain a second satellite observation file corresponding to the first satellite observation file from the target base station connected to the target server.
  80. The target server according to claim 79, wherein the processor is specifically configured to:
    The base station corresponding to the smallest distance among the at least one distance is determined as the target base station.
  81. The target server according to claim 79 or 80, wherein the target base station includes a plurality of satellite observation files, and the satellite observation file includes the initial reception time of satellite observation values, and the processor is specifically used to :
    Determining a target start time and a target stop time according to the job start time point and job end time point of the first job time information;
    Determine the second satellite observation file corresponding to the first satellite observation file from the plurality of satellite observation files according to the initial reception time of the satellite observation value, the target start time and the target stop time;
    Wherein, the initial reception time of the satellite observation value in the second satellite observation file is greater than or equal to the target start time, and the initial reception time of the satellite observation value in the second satellite observation file is less than the target Stop time.
  82. The target server according to any one of claims 78 to 80, wherein the first satellite observation file corresponds to a plurality of the second satellite observation files.
  83. The target server according to any one of claims 78-80, wherein the second satellite observation file corresponds to a first satellite observation file of multiple mobile platforms corresponding to multiple operation tasks, respectively.
  84. The target server according to any one of claims 78 to 80, wherein the target server includes a server that continuously operates a reference station system or a network positioning system.
PCT/CN2019/071380 2019-01-11 2019-01-11 Information acquisition method and related device WO2020143031A1 (en)

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