WO2022083459A1

WO2022083459A1 - Positioning differential information acquisition method, apparatus and device, and computer storage medium

Info

Publication number: WO2022083459A1
Application number: PCT/CN2021/122916
Authority: WO
Inventors: 潘鑫明; 晏明扬
Original assignee: 中移(上海)信息通信科技有限公司; 中移智行网络科技有限公司; 中国移动通信集团有限公司
Priority date: 2020-10-21
Filing date: 2021-10-09
Publication date: 2022-04-28
Also published as: CN113075710B; CN113075710A

Abstract

A positioning differential information acquisition method, apparatus and device, and a computer storage medium. The method comprises: acquiring first ephemeris data and at least one piece of first observation data from a data memory (S110); determining second observation data of different pieces of state information according to the first ephemeris data and the at least one piece of first observation data (S120); performing first splicing processing on the second observation data of different pieces of state information, so as to obtain first target observation data (S130); and parsing the first target observation data, so as to obtain positioning differential information (S140). By means of the method, positioning accuracy and working efficiency can be improved.

Description

Method, device, device and computer storage medium for obtaining positioning differential information

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the priority of the Chinese patent application filed on October 21, 2020, with the application number of 202011134065.7 and the application title of "Location Difference Information Acquisition Method, Device, Equipment and Computer Storage Medium", the entire content of which is approved by Reference is incorporated in this application.

technical field

The present application belongs to the technical field of real-time positioning, and in particular, relates to a method, apparatus, device and computer storage medium for obtaining positioning differential information.

Background technique

Real-time dynamic carrier (Real Time Kinematic, RTK) phase difference technology, positioning using two receivers, real-time positioning according to the ephemeris data of the base station and the observation data of the rover.

With the rapid development of mobile devices that can be used to request positioning, time synchronization problems can arise because the network environment near the area where the mobile device is located may be constantly changing. The data cannot be transmitted in time, which makes the data of the base station and the data of the mobile terminal do not match, resulting in the unsuccessful positioning solution, thus affecting the accuracy of positioning and work efficiency.

SUMMARY OF THE INVENTION

Embodiments of the present application provide a method, apparatus, device, and computer storage medium for obtaining positioning differential information, which can improve positioning accuracy and work efficiency.

In a first aspect, the present application provides a method for obtaining positioning differential information, the method comprising:

obtaining first ephemeris data and at least one first observation data from the data storage;

determining second observation data of different state information according to the first ephemeris data and at least one first observation data, wherein the state information includes: a leading state and a lagging state;

performing a first splicing process on the second observation data of different state information to obtain the first target observation data;

Analyze the first target observation data to obtain the positioning difference information.

In some implementations of the first aspect, before acquiring the first ephemeris data and the at least one first observation data from the data storage, the method further includes:

Receive the first observation data sent by the rover and the first ephemeris data segment sent by the base station;

According to the receiving sequence of the first ephemeris data segment, the second splicing process is performed on the first ephemeris data segment to obtain the first ephemeris data;

Slide to save the first observation data and the first ephemeris data according to the preset time length.

In some implementations of the first aspect, the second observation data of different state information is determined according to the first ephemeris data and at least one first observation data, including:

Analyze the first ephemeris data to determine the first epoch time;

According to the first epoch time, obtain the part of the first observation data that matches the first ephemeris data, and obtain the second observation data of the lag state corresponding to the first epoch time;

According to the first epoch time, when the first observation data also includes a part that does not match the first ephemeris data, obtain the second observation data of the advanced state corresponding to the first epoch time; And,

The second observation data of the advanced state corresponding to the first epoch time is saved to the data storage.

In some implementations of the first aspect, the first splicing process is performed on the second observation data of different state information to obtain the first target observation data, including:

Obtain the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time, wherein the second epoch time is based on the previous ephemeris data of the first ephemeris data Sure;

The first splicing process is performed on the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time to obtain the first target observation data.

In some implementations of the first aspect, the first splicing process is performed on the second observation data of different state information to obtain the first target observation data, further comprising:

performing a first splicing process on the second observation data of different state information to obtain the second target observation data;

obtaining the first integrity verification information in the second target observation data;

When the second target observation data satisfies the first integrity verification information, the second target observation data is used as the first target observation data.

In some implementations of the first aspect, parsing the first target observation data includes:

Obtain the first timestamp and the current time of the base station when parsing the first target observation data;

When the difference between the first timestamp and the current time satisfies the first preset time error, the first target observation data is parsed.

In some implementations of the first aspect, after obtaining the positioning difference information, the method further includes:

Receive the positioning request information of the positioning device;

Obtain the request time and current time of the positioning request information;

When the difference between the request time and the current time satisfies the second preset time error, the positioning difference information is used to calculate the positioning information of the positioning device.

In some implementations of the first aspect, according to the receiving order of the first ephemeris data segments, the second splicing process is performed on the first ephemeris data segments to obtain the first ephemeris data, including:

According to the receiving sequence of the first ephemeris data segment, the second splicing process is performed on the first ephemeris data segment to obtain the second ephemeris data;

Obtain second integrity verification information from the second ephemeris data;

When the second ephemeris data satisfies the second integrity verification information, the first ephemeris data is acquired from the second ephemeris data.

In a second aspect, the present application provides a positioning differential information acquisition device, the device comprising:

an acquisition module for acquiring the first ephemeris data and at least one first observation data from the data storage;

The acquiring module is further configured to determine second observation data of different state information according to the first ephemeris data and at least one first observation data, wherein the state information includes: a leading state and a lagging state;

a splicing module, configured to perform a first splicing process on the second observation data of different state information to obtain the first target observation data;

The parsing module is used for parsing the first target observation data to obtain the positioning difference information.

In a third aspect, the present application provides a positioning differential information acquisition device, the device includes: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the first aspect or any implementable manner of the first aspect is implemented The positioning difference information acquisition method described in .

In a fourth aspect, the present application provides a computer-readable storage medium, where computer program instructions are stored on the computer-readable storage medium, and when the computer program instructions are executed by a processor, the first aspect or any implementation manner of the first aspect is implemented. The positioning difference information acquisition method described above.

The embodiment of the present application provides a method for obtaining positioning differential information. Due to the network jitter and delay process, the calculation of the observation data directly based on the received ephemeris data is prone to calculation failure, which will affect the working efficiency of the positioning service. , first, obtain the ephemeris data and the first observation data from the data storage, then determine the second observation data of different states from the first observation data according to the ephemeris data, and splicing the second observation data of different states, Obtaining the first target observation data can ensure the integrity of the solved observation data. Then, the first target observation data is used as the data for positioning corresponding to the latest ephemeris, which effectively improves the accuracy of providing positioning differential information services. performance and stability, thereby improving the work efficiency of the positioning solution.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings that need to be used in the embodiments of the present application. For those of ordinary skill in the art, without creative work, the Additional drawings can be obtained from these drawings.

1 is a schematic flowchart of a method for obtaining positioning differential information provided by an embodiment of the present application;

2 is a schematic diagram of a message structure provided by an embodiment of the present application;

3 is a schematic flowchart of a first ephemeris data acquisition method provided by an embodiment of the present application;

4 is a schematic flowchart of another method for obtaining positioning differential information provided by an embodiment of the present application;

5 is a schematic diagram of a network persistence lag data matching provided by an embodiment of the present application;

6 is a schematic diagram of intermittent blocking delay data matching provided by an embodiment of the present application;

7 is a schematic diagram of a solution result provided by an embodiment of the present application;

8 is a schematic structural diagram of an apparatus for obtaining positioning differential information provided by an embodiment of the present application;

FIG. 9 is a schematic structural diagram of a device for obtaining positioning difference information provided by an embodiment of the present application.

Detailed ways

The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application, and are not configured to limit the present application. It will be apparent to those skilled in the art that the present application may be practiced without some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating examples of the present application.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element defined by the phrase "comprises" does not preclude the presence of additional identical elements in a process, method, article, or device that includes the element.

The term "and/or" in this article is only an association relationship to describe the associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, it can mean that A exists alone, A and B exist at the same time, and A and B exist independently B these three cases.

RTK phase difference technology uses two receivers for positioning, and performs real-time positioning according to the ephemeris data of the base station and the observation data of the rover.

In the process of RTK positioning, it is necessary to use the original observation data of the rover and base station at the same time. The data of the mobile station is collected by the mobile terminal receiver, which can only solve the problem of data transmission.

With the rapid development of mobile devices that can be used to request positioning, time synchronization problems can arise because the network environment near the area where the mobile device is located may be constantly changing. The data cannot be transmitted in time, so that the observation data used for the solution at the mobile end is incomplete, resulting in an unsuccessful positioning solution, which affects the accuracy of positioning and work efficiency. Therefore, whether the time synchronization of the two stations can be successfully matched, so as to obtain complete observation data for the calculation, is a key issue for the correct positioning calculation.

In order to solve one or more of the above problems, an embodiment of the present application provides a method for obtaining positioning differential information. First, ephemeris data and first observation data are obtained from a data memory, and then, according to the ephemeris data, the first observation data is obtained from the first observation data. The second observation data in different states is determined in the data, and further, the second observation data in different states is spliced to obtain the first target observation data, and the first target observation data is used as the position corresponding to the latest ephemeris. data to improve the accuracy and stability of positioning differential information services.

The method for acquiring positioning difference information provided by the embodiments of the present application will be introduced below with reference to the accompanying drawings.

FIG. 1 shows a schematic flowchart of a method for acquiring positioning difference information provided by an embodiment of the present application. As shown in Figure 1, the method may include the following steps:

S110. Acquire the first ephemeris data and at least one first observation data from the data storage.

In the embodiment S110 of the present application, the positioning difference information acquisition system may receive the original observation data sent by the rover, that is, the first observation data.

The positioning differential information acquisition system can also receive the original observation data sent by the base station. In some embodiments, the original observation data sent by the base station may include at least the original observation value of the base station and navigation ephemeris information, wherein the original ephemeris data of the base station can be determined according to the navigation ephemeris information, that is, the first One ephemeris data.

In order to ensure the accuracy and stability of the positioning differential information service, the positioning differential information acquisition system can store the received data in the data storage. When calculating the positioning difference information, the first ephemeris data and the first observation data of the current time are directly obtained from the data storage.

In some embodiments, in order to ensure that the data pre-stored in the data storage is the latest ephemeris data, only the observation data sent by the base station and the observations sent by the rover may be stored in the data storage according to a preset time length. data. That is to say, with the update of time, the data stored in the data storage is updated by sliding according to the preset time length. The preset time length may be specifically set according to the actual situation of the network delay in the application scenario.

After the first ephemeris data and the first observation data are acquired, S120 is executed next.

S120. Determine second observation data of different state information according to the first ephemeris data and at least one first observation data.

In the embodiment S120 of the present application, the state information according to the observation data includes: a leading state and a lagging state. When a network change may cause a network delay, the original observation data sent by the base station may not be transmitted in time. Therefore, in order to ensure the integrity of the parsed observation data, when determining the second observation data with different state information according to the first ephemeris data and at least one first observation data, first, the first ephemeris data may be parsed , determine the first epoch time, the first epoch time refers to the current epoch time used to analyze the first target observation data, the first ephemeris data refers to the time period before the current epoch time, the second ephemeris Data refers to the time period after the current epoch time.

Then, according to the first epoch time, the part of the first observation data that matches the first ephemeris data is obtained, and the second observation data of the lag state corresponding to the first epoch time is obtained; at the same time, according to the first epoch time, when When the first observation data also includes a part that does not match the first ephemeris data, obtain the second observation data of the advanced state corresponding to the first epoch time; and obtain the second observation data of the advanced state corresponding to the first epoch time. Data is saved to data memory.

It is understandable that, when the network change does not cause network delay, or the network is normal, the first observation data may all match the first ephemeris data according to the first epoch time, that is to say, the first observation data may only include the lag. The second observation data of the state, excluding the second observation data of the advanced state.

After obtaining the second observation data of different state information, S130 is executed next.

S130. Perform a first splicing process on the second observation data of different state information to obtain the first target observation data.

The second observation data in the advanced state corresponding to the previous ephemeris data of the first ephemeris data may be stored in the data memory. In the embodiment S130 of the present application, obtaining the first target observation data may include the following steps:

First, obtain the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time, wherein the second epoch time is based on the previous star of the first ephemeris data. The ephemeris data is determined, wherein the second epoch time is the current epoch time corresponding to the time period of the previous ephemeris data.

Then, the first splicing process is performed on the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time to obtain the first target observation data.

In some embodiments, in order to improve the calculation accuracy and calculation speed of the positioning difference information, the following step may be further included: before determining the first target observation data, perform a first splicing process on the second observation data of different state information to obtain The target observation data is described as the second target observation data, that is, after performing the first splicing process on the second observation data with different state information to obtain the second target observation data, a preliminary integrity check is performed. During the preliminary integrity check, the first integrity verification information in the second target observation data is obtained first, and when the second target observation data satisfies the first integrity verification information, the second target observation data is used as the first target observation data.

In some embodiments, the first integrity verification information of the second target observation data may be that the length information field of the second target observation data includes length information. When the second target observation data satisfies the first integrity verification information, that is, the first The length of the second target observation data message is greater than or equal to the length information.

Referring to the message structure shown in FIG. 2, other fields in the second target observation data, such as the identification code field (Preamble), the reserved field (Reserved), the length information field (Message Length), and the redundancy check field. Cyclic Redundancy Check (CRC), wherein the variable length data segment (Variable Length Date Message) includes data used to calculate positioning differential information.

If the field length of the second target observation data satisfies the first integrity verification information, it can be considered that the second target observation data obtained by the splicing is complete, the second target observation data can be determined as the first target observation data, and then the execution can be executed. S140.

S140. Analyze the first target observation data to obtain positioning difference information.

In the embodiment S140 of the present application, the first target observation data may be parsed through RTK parsing and CRC check, so as to obtain the positioning differential information corresponding to the latest ephemeris.

In some embodiments, in order to ensure the real-time performance of the positioning difference information obtained by parsing, parsing the first target observation data may further include the following steps: acquiring the first timestamp and the current time of the reference station when parsing the first target observation data; When the difference between the acquired first timestamp and the current time satisfies the first preset time error, analyze the first target observation data to ensure the real-time performance of the positioning difference information obtained by the analysis, wherein the first preset time error may be a preset time error. For example, the first preset time error is set to 2 seconds (s), when the difference between the first timestamp and the current time is greater than 2s, it can be considered that the first target observation data correspondingly used when acquiring the first target observation data. The ephemeris data has timed out, and the positioning differential information that satisfies the first preset time error cannot be obtained.

In some embodiments, in order to save storage space, the first ephemeris data that has timed out may be deleted from the data storage.

In some embodiments, if the field length of the second target observation data does not satisfy the first integrity verification information, there may be a transmission error that causes the second target observation data to be incomplete. Therefore, the second target observation data can be directly retrieved from the data It is deleted from the memory to ensure the accuracy of the final positioning differential data.

In the method for obtaining positioning differential information provided by the embodiment of the present application, in order to avoid the working efficiency of the positioning service being affected by the failure to solve the observation data, first, the ephemeris data and the first observation data are obtained from the data storage, and then, according to the ephemeris data The second observation data of different states is determined from the first observation data, and further, the second observation data of different states are spliced to obtain the first target observation data, which can ensure the integrity of the calculated observation data, and The first target observation data, as the data used for positioning corresponding to the latest ephemeris, effectively improves the accuracy and stability of the positioning differential information service, thereby improving the working efficiency of the positioning solution.

In some embodiments, during the transmission process of the observation data sent by the base station, due to the different lengths of ephemeris data, the observation data sent by the base station may be sub-packaged or unpackaged, that is, the data sent by the base station may be sub-packaged or unpackaged. The following situations may occur in the observation data: (1) the complete ephemeris data segment and part of the ephemeris data segment of the next moment; (2) the ephemeris data segment of the previous moment and the current moment ephemeris data segment; (3) ) a complete ephemeris data segment at the current moment; (4) a complete ephemeris data segment at the current moment and a complete ephemeris data segment at the previous moment.

Therefore, in the embodiment S110 shown in FIG. 1 of the present application, the positioning difference information acquisition system obtains the first ephemeris data according to the observation data sent by the reference station, and saves the first ephemeris data in the data memory, which may include S310-S330. 3 shown.

S310. Receive the first observation data sent by the rover and the first ephemeris data segment sent by the base station.

In the embodiment S310 of the present application, the first ephemeris data segment sent by the base station may refer to the message structure shown in FIG. 2 , and after receiving the first ephemeris data segment, it is searched whether the first ephemeris data segment includes an identity Identification code field (Preamble), and execute S320.

S320. Perform a second splicing process on the first ephemeris data segments according to the receiving sequence of the first ephemeris data segments to obtain first ephemeris data.

Optionally, according to the receiving order of the first ephemeris data segments, perform second splicing processing on the first ephemeris data segments to obtain second ephemeris data; obtain second integrity verification information from the second ephemeris data ; When the second ephemeris data satisfies the second integrity verification information, obtain the first ephemeris data from the second ephemeris data.

In some embodiments, when the first ephemeris data segment includes an identification code field (Preamble), the first ephemeris data segment is used as the starting data segment of a complete ephemeris data, and the first ephemeris data segment is The data segment is subjected to a preliminary integrity check. If it is determined that the first ephemeris data segment is complete after the preliminary integrity check is performed, S330 may be executed next.

If it is determined that the first ephemeris data segment is incomplete after the preliminary integrity check is performed, S330 may be executed next.

Optionally, by obtaining the length information field (Message Length) of the first ephemeris data segment and other field lengths, for example, referring to the message structure shown in Figure 2, the total length of Preamble, Reserved, Message Length and CRC is 48, Among them, the length L of the variable length data segment (Variable Length Date Message) can be obtained after preliminary analysis of the Message Length. If the length of the first ephemeris data segment is greater than or equal to L+48, it is considered that the first ephemeris data segment is Complete; if the length of the first ephemeris data segment is less than L+48, it is considered that the first ephemeris data segment is incomplete, and the first ephemeris data segment is used as the residual message (residual message) and is cached in the data storage. , to be used for splicing the ephemeris data segment received next time.

In some embodiments, when the first ephemeris data segment does not include an identification code field (Preamble), it is considered that the first ephemeris data segment needs and the remaining information (residual information of the last received ephemeris data segment) message) for splicing, after the splicing is completed, a preliminary integrity check is performed, if the check is complete, the first ephemeris data is obtained, if the check is incomplete, it is cached in the data memory, and the ephemeris data received next time The segments are spliced until a complete first ephemeris data segment is obtained.

S330 , sliding and saving the first observation data and the first ephemeris data according to the preset time length.

After the complete first ephemeris data segment is obtained, the first ephemeris data and the first observation data are slid and saved according to the preset time length.

In the embodiment of the present application, only preliminary integrity verification is performed on the received ephemeris data segment, and only about 50 bits of data are parsed, which speeds up the ephemeris parsing and verification speed, and avoids complete parsing of the ephemeris data segment. In the process of CRC and CRC verification, the transmission delay of the base station data is increased, which maximizes the real-time transmission of the positioning differential information acquisition system, ensures the integrity and continuity of the data, and improves the calculation accuracy of the positioning differential information acquisition.

In order to more clearly describe the method for obtaining the positioning difference information provided by the present application, the following description will be given in conjunction with the schematic flowchart of another method for obtaining the positioning difference information shown in FIG. 4 .

The positioning differential information acquisition system can receive the observation data continuously sent by the rover and the observation data continuously sent by the base station, preprocess the observation data sent by the base station, and save it in the data memory.

S401. Slide and save the observation data sent by the rover and the observation data sent by the base station according to a preset time length.

The positioning differential information acquisition system can acquire the first ephemeris data and the first observation data pre-stored in the data memory.

Next, execute S402.

S402, epoch matching.

That is, the first ephemeris data and the first observation data are matched to determine the first target observation data.

First, the first ephemeris data can be analyzed to determine the first epoch time, that is, the current epoch time of the first ephemeris data. Next, the second observation data of the lag state corresponding to the first epoch time may be obtained, or the second observation data of the advanced state corresponding to the first epoch time may be further included. When the second observation data includes the second observation data of the advanced state, the second observation data of the advanced state corresponding to the first epoch time is saved to the data storage.

S402 also includes performing a first splicing process on the second observation data of different state information to obtain the first target observation data.

As a specific example, as shown in Fig. 5, when the network environment causes the data transmission of the base station to be untimely, the time lag between the base station and the rover causes the continuous lag and delay of the data of the base station relative to the data of the rover. ,

time to

time

represents the observation period of the rover,

time to

time

Indicates the observation period of the base station, according to the base station data,

The time epoch is called the current epoch (the first epoch time), and t _Δfw indicates that the time period is the time period that is not currently matched. These epochs are called the advanced epoch, and the data corresponding to the advanced epoch is the observation data of the advanced state. The overlapping part in the middle is the epoch time when the data of the two stations coincide, and the data corresponding to the lag epoch is the observation data in the lag state.

Under the continuous lag delay shown in Figure 5, if real-time RTK calculation is performed, the real observation data of the rover receiver at this moment in the epoch period t _Δfw , that is, the advanced state, cannot be correctly analyzed. Therefore, through this According to the method for obtaining the positioning difference information described in the application embodiment, the observation data in the advanced state can be returned to the data storage, and after the observation data in the lagging state of the next epoch is obtained and spliced, correct analysis can be realized.

As a specific example, as shown in FIG. 6 , the network environment changes cause intermittent network delay, thereby causing intermittent blocking delay of data. Exemplarily, compared with the persistent lag delay shown in Figure 5, after 1s of data reception, the rover data increases by 1 epoch time, while the base station data increases by 1 epoch time.

epoch times, observations are also received for t _Δfw epoch times due to network delay congestion. Through the method for obtaining the positioning differential information described in the embodiment of the present application, the observation data of the previous t _Δfw epochs will not be lost, and at the same time, the rover receiver can be correctly resolved to this moment.

Position differential information at epoch time.

After obtaining the first target observation data, S403 is executed next.

S403. Preliminary integrity check.

That is, integrity verification is performed on the target observation data after the first splicing processing according to the length information field, and if the target observation data after the first splicing processing satisfies the first integrity verification information, S404 is executed. If not, there may be errors in the data transmission process. Optionally, the spliced target observation data can be deleted, and the target observation data of the rover can be re-determined according to the latest ephemeris data.

S404, RTK solution.

That is, RTK calculation is performed on the first target observation data to obtain positioning differential information.

S405, check.

In the embodiment of the present application, the positioning difference information acquisition system can receive the positioning request information of the positioning device in real time, and after obtaining the positioning difference information, it also obtains the request time and the current time of the positioning request information, and determines whether the currently parsed first target observation data is It can meet the real-time requirements of location services.

In some embodiments, after the positioning request information of the positioning device, if the time difference between the request time of the positioning request information and the current time of the positioning differential information acquisition system exceeds a second preset time error, it can be considered that the currently parsed first target observation The data cannot meet the real-time requirement of the positioning service, wherein the second preset time error may be preset, for example, may be 2s.

Therefore, in order to provide the positioning device with accurate positioning difference information in real time, when the difference between the requested time and the current time satisfies the second preset time error, S406 is performed.

S406, output the solution result.

According to the RTK calculation of the first target observation data, the positioning difference information is obtained, and the positioning difference information can be used to calculate the positioning information of the positioning device.

The solution result can be shown in Figure 7. Each column from left to right is: epoch number, GPS week seconds, solution status, number of synchronously observed satellites, ratio value, PDOP value, XYZ deviation, ENU deviation, baseline length.

It can be understood that the positioning information of the positioning device can be calculated by the positioning difference information acquisition system, or the positioning information can be calculated in real time by the positioning device after the positioning difference information is sent to the positioning device, which is not specifically limited here.

The method for obtaining the positioning difference information described in the embodiments of the present application not only ensures that the results obtained in the RTK real-time calculation process are the results of the latest epoch, but also improves the speed of the RTK real-time calculation and ensures that the RTK real-time calculation results are accurate. completeness.

FIG. 8 is a schematic structural diagram of an apparatus for obtaining positioning difference information provided by an embodiment of the present application. As shown in FIG. 8 , the apparatus 800 for obtaining positioning difference information may include: an obtaining module 810 , a splicing module 820 , and a parsing module 830 .

The obtaining module 810 is configured to obtain the first ephemeris data and at least one first observation data from the data storage.

The acquiring module 810 is further configured to determine second observation data of different state information according to the first ephemeris data and at least one first observation data, wherein the state information includes: a leading state and a lagging state.

The splicing module 820 is configured to perform a first splicing process on the second observation data of different state information to obtain the first target observation data.

The parsing module 830 is configured to parse the first target observation data to obtain positioning difference information.

In some embodiments, the apparatus for acquiring differential positioning information may further include: a receiving module configured to receive the first observation data sent by the rover and the first ephemeris data segment sent by the reference station.

The splicing module 820 is configured to perform a second splicing process on the first ephemeris data segments according to the receiving sequence of the first ephemeris data segments to obtain first ephemeris data.

The receiving module is further configured to slide and save the first observation data and the first ephemeris data according to a preset time length.

The splicing module 820 is further configured to analyze the first ephemeris data to determine the first epoch time; according to the first epoch time, obtain the part of the first observation data that matches the first ephemeris data, and obtain the first epoch The second observation data of the lag state corresponding to the time; according to the first epoch time, when the first observation data also includes a part that does not match the first ephemeris data, the second observation data of the advanced state corresponding to the first epoch time is obtained observation data; and, saving the second observation data of the advanced state corresponding to the first epoch time to the data storage.

In some embodiments, the splicing module 820 is further configured to obtain the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time, wherein the second epoch time The meta time is determined according to the previous ephemeris data of the first ephemeris data; the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time are first spliced processing to obtain the first target observation data.

In some embodiments, the splicing module 820 is further configured to perform a first splicing process on the second observation data of different state information to obtain the second target observation data; obtain the first integrity verification information in the second target observation data; When the second target observation data satisfies the first integrity verification information, the second target observation data is used as the first target observation data.

In some embodiments, the parsing module 830 is further configured to acquire the first timestamp when parsing the first target observation data and the current time of the reference station; acquiring the difference between the first timestamp and the current time satisfies the first preset time error , parse the first target observation data.

In some embodiments, the receiving module is further configured to receive the positioning request information of the positioning device; the obtaining module 810 is configured to obtain the request time and the current time of the positioning request information; when the difference between the request time and the current time satisfies the second preset time When there is an error, the positioning difference information is used to calculate the positioning information of the positioning device.

In some embodiments, the splicing module 820 is further configured to perform a second splicing process on the first ephemeris data segments according to the receiving sequence of the first ephemeris data segments to obtain second ephemeris data; , obtain the second integrity verification information; when the second ephemeris data satisfies the second integrity verification information, acquire the first ephemeris data from the second ephemeris data.

It can be understood that the apparatus 800 for obtaining the positioning difference information in the embodiment of the present application may correspond to the execution body of the method for obtaining the positioning difference information provided in the embodiment of the present application, and the operation and/or operation of each module/unit of the apparatus 800 for obtaining the positioning difference information. For the specific details of the OR function, reference may be made to the description of the corresponding part in the method for obtaining the positioning difference information provided by the above embodiments of the present application, which is not repeated here for brevity.

In the device for obtaining positioning difference information in the embodiment of the present application, first, the ephemeris data and the first observation data are obtained from the data storage, and then the second observation data in different states is determined from the first observation data according to the ephemeris data, and the The second observation data in different states are spliced to obtain the first target observation data, which can ensure the integrity of the solved observation data and avoid the failure of the calculation due to incomplete observation data; then, the first target observation is performed. The data is used for positioning corresponding to the latest ephemeris, which effectively improves the accuracy and stability of the positioning differential information service, thereby improving the working efficiency of positioning calculation.

FIG. 9 is a schematic diagram of a hardware structure of a device for obtaining positioning difference information provided by an embodiment of the present application.

As shown in FIG. 9 , the positioning difference information acquisition device 900 in this embodiment of the present application includes an input device 901 , an input interface 902 , a central processing unit 903 , a memory 904 , an output interface 905 , and an output device 906 . Among them, the input interface 902, the central processing unit 903, the memory 904, and the output interface 905 are connected to each other through the bus 910, and the input device 901 and the output device 906 are respectively connected to the bus 910 through the input interface 902 and the output interface 905, and then with the positioning differential information Other component connections of device 900 are obtained.

Specifically, the input device 901 receives input information from the outside, and transmits the input information to the central processing unit 903 through the input interface 902; the central processing unit 903 processes the input information based on the computer-executable instructions stored in the memory 904 to generate output information, temporarily or permanently store the output information in the memory 904, and then transmit the output information to the output device 906 through the output interface 905; the output device 906 outputs the output information to the outside of the positioning difference information acquisition device 900 for the user to use.

That is to say, the positioning difference information obtaining device shown in FIG. 9 can also be implemented to include: a memory storing computer-executable instructions; and a processor, which can implement the embodiments of the present application when executing the computer-executable instructions The positioning difference information acquisition method provided in .

In one embodiment, the device 900 for obtaining positioning difference information shown in FIG. 9 includes: a memory 904 for storing a program; and a processor 903 for running a program stored in the memory to execute the positioning difference provided by this embodiment of the present application Information acquisition method.

Embodiments of the present application further provide a computer-readable storage medium, where computer program instructions are stored thereon; when the computer program instructions are executed by a processor, the method for obtaining positioning difference information provided by the embodiments of the present application is implemented.

To be clear, the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above-described embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the sequence of steps after comprehending the spirit of the present application .

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an application specific integrated circuit (ASIC), suitable firmware, a plug-in, a function card, and the like. When implemented in software, elements of the present application are programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted over a transmission medium or communication link by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transmit information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, read-only memory (ROM), flash memory, erasable read-only memory (EROM), floppy disks, compact disks Disc Read-Only Memory, CD-ROM), optical discs, hard disks, optical media, radio frequency (Radio Frequency, RF) links, etc. The code segments may be downloaded via a computer network such as the Internet, an intranet, or the like.

It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, the present application is not limited to the order of the above steps, that is, the steps may be performed in the order mentioned in the embodiment, or may be different from the order in the embodiment, or several steps may be performed simultaneously.

Aspects of the present disclosure are described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine such that execution of the instructions via the processor of the computer or other programmable data processing apparatus enables the Implementation of the functions/acts specified in one or more blocks of the flowchart and/or block diagrams. Such processors may be, but are not limited to, general purpose processors, special purpose processors, application specific processors, or field programmable logic circuits. It will also be understood that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can also be implemented by special purpose hardware for performing the specified functions or actions, or by special purpose hardware and/or A combination of computer instructions is implemented.

The above are only specific implementations of the present application. Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, modules and units may refer to the foregoing method embodiments. The corresponding process in , will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should all cover within the scope of protection of this application.

Industrial Applicability

Embodiments of the present application provide a method, device, device, and computer storage medium for acquiring positioning differential information, which acquire first ephemeris data and at least one first observation data from a data storage; according to the first ephemeris data and at least one first First observation data, determine second observation data in different states; perform first splicing processing on the second observation data in different states to obtain first target observation data; analyze the first target observation data to obtain positioning difference information. That is to say, first, the present application determines the second observation data in different states based on the first ephemeris data and at least one first observation data stored in the data storage, and performs splicing processing on the second observation data in different states, so that Ensure the integrity of the calculated observation data, and then use the first target observation data as the data for positioning corresponding to the latest ephemeris, which effectively improves the accuracy and stability of the positioning differential information service, thereby improving positioning accuracy and work efficiency.

Claims

A method for obtaining positioning differential information, the method comprising:

obtaining first ephemeris data and at least one first observation data from the data storage;

According to the first ephemeris data and the at least one first observation data, second observation data of different state information is determined, wherein the state information includes: a leading state and a lagging state;

performing a first splicing process on the second observation data of the different state information to obtain the first target observation data;

Parse the first target observation data to obtain positioning difference information.
The method according to claim 1, wherein, before said obtaining the first ephemeris data and the at least one first observation data from the data storage, the method further comprises:

receiving the first observation data sent by the rover and the first ephemeris data segment sent by the base station;

According to the receiving sequence of the first ephemeris data segment, the second splicing process is performed on the first ephemeris data segment to obtain the first ephemeris data;

According to a preset time length, the first observation data and the first ephemeris data are slidably saved.
The method according to claim 1, wherein the determining the second observation data of different state information according to the first ephemeris data and the at least one first observation data comprises:

Analyzing the first ephemeris data to determine the first epoch time;

According to the first epoch time, obtain the part of the first observation data that matches the first ephemeris data, and obtain the second observation data of the lag state corresponding to the first epoch time;

According to the first epoch time, when the first observation data further includes a part that does not match the first ephemeris data, obtain second observation data in an advanced state corresponding to the first epoch time; and,

The second observation data of the advanced state corresponding to the first epoch time is saved to the data storage.
The method according to claim 3, wherein the first splicing processing is performed on the second observation data of the different state information to obtain the first target observation data, comprising:

Acquiring the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time, wherein the second epoch time is based on the first ephemeris data The last ephemeris data of , is determined;

The first splicing process is performed on the second observation data of the lag state corresponding to the first epoch time and the second observation data of the advanced state corresponding to the second epoch time, to obtain the first target observation data.
The method according to claim 1 or 3, wherein the performing a first splicing process on the second observation data of the different state information to obtain the first target observation data, further comprising:

performing a first splicing process on the second observation data of the different state information to obtain the second target observation data;

acquiring first integrity verification information in the second target observation data;

When the second target observation data satisfies the first integrity verification information, the second target observation data is used as the first target observation data.
The method of claim 1, wherein the parsing the first target observation data comprises:

obtaining the first timestamp and the current time of the base station when parsing the first target observation data;

When the difference between the first timestamp and the current time satisfies a first preset time error, the first target observation data is parsed.
The method according to claim 6, wherein after obtaining the positioning difference information, the method further comprises:

Receive the positioning request information of the positioning device;

Obtain the request time and the current time of the positioning request information;

When the difference between the request time and the current time satisfies a second preset time error, the positioning difference information is used to calculate the positioning information of the positioning device.
The method according to claim 2, wherein the second splicing processing is performed on the first ephemeris data segments according to the receiving order of the first ephemeris data segments to obtain the first ephemeris data, comprising:

According to the receiving sequence of the first ephemeris data segment, the second splicing process is performed on the first ephemeris data segment to obtain second ephemeris data;

From the second ephemeris data, obtain second integrity verification information;

When the second ephemeris data satisfies the second integrity verification information, the first ephemeris data is acquired from the second ephemeris data.
A positioning differential information acquisition device, the device includes:

an acquisition module, configured to acquire the first ephemeris data and at least one first observation data from the data storage;

The acquiring module is further configured to determine second observation data of different state information according to the first ephemeris data and the at least one first observation data, wherein the state information includes: a leading state and a lagging state;

a splicing module, configured to perform a first splicing process on the second observation data of the different state information to obtain the first target observation data;

The parsing module is configured to parse the first target observation data to obtain positioning difference information.
A positioning differential information acquisition device, the device includes:

a processor, and a memory storing computer program instructions;

The processor reads and executes the computer program instructions, so as to implement the method for obtaining positioning differential information according to any one of claims 1-8.
A computer storage medium, where computer program instructions are stored on the computer storage medium, and when the computer program instructions are executed by a processor, the method for obtaining positioning differential information according to any one of claims 1-8 is implemented.