WO2022083680A1 - 一种定位方法及相关装置 - Google Patents

一种定位方法及相关装置 Download PDF

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Publication number
WO2022083680A1
WO2022083680A1 PCT/CN2021/125238 CN2021125238W WO2022083680A1 WO 2022083680 A1 WO2022083680 A1 WO 2022083680A1 CN 2021125238 W CN2021125238 W CN 2021125238W WO 2022083680 A1 WO2022083680 A1 WO 2022083680A1
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WO
WIPO (PCT)
Prior art keywords
positioning
electronic device
precision
coordinates
application
Prior art date
Application number
PCT/CN2021/125238
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English (en)
French (fr)
Inventor
黄国胜
刘永祥
史翔
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Priority to EP21882095.9A priority Critical patent/EP4215948A4/en
Priority to US18/249,967 priority patent/US20230400592A1/en
Publication of WO2022083680A1 publication Critical patent/WO2022083680A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/42—Determining position
    • G01S19/421—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G01S19/426—Determining position by combining or switching between position solutions or signals derived from different satellite radio beacon positioning systems; by combining or switching between position solutions or signals derived from different modes of operation in a single system by combining or switching between position solutions or signals derived from different modes of operation in a single system
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/42—Determining position
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining 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
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
    • G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled

Definitions

  • the present application relates to the field of positioning technologies, and in particular, to a positioning method and related devices.
  • LBS location based service
  • GNSS global navigation satellite system
  • Typical positioning technologies include, for example, differential navigation satellite system (DGNSS) based on differential positioning, real-time kinematic (RTK) technology, and precise point positioning (PPP) based on error correction. ) technology, etc.
  • DDGNSS differential navigation satellite system
  • RTK real-time kinematic
  • PPP precise point positioning
  • RTK technology and PPP technology both use carrier phase for ranging, and the positioning accuracy can reach sub-meter ( ⁇ 1m) or even centimeter level, and can accurately identify the lane information of the vehicle, so it can meet the needs of lane-level navigation. For high-precision positioning services.
  • the present application provides a positioning method and a related device, which realizes the design of authority control and independent reporting channels, provides two services of ordinary positioning and high-precision positioning for upper-layer applications, and ensures the channel for common applications to obtain positioning results and high-precision applications.
  • the passes that obtain the positioning results are isolated from each other.
  • the security of high-precision positioning result output is improved, and the security requirements of different countries or regions are met.
  • the present application provides a positioning method, including: an electronic device obtains a first positioning instruction of a first application; and in response to the first positioning instruction, the electronic device calculates a high-precision positioning in a first coordinate system Coordinates; the electronic device adds a deflection factor to the high-precision positioning coordinates, and encrypts it with a preset encryption algorithm to obtain encrypted deflection coordinates; the electronic device reports the encrypted deflection coordinates to the first application.
  • a positioning method is provided in the application, and the electronic device can provide ordinary positioning and high-precision positioning services for upper-layer applications through authority control and independent reporting channel design.
  • the electronic device can report the positioning results with common accuracy (for example, a typical accuracy value of 3m to 5m) to the common application through a common reporting channel.
  • the electronic device can encrypt and report the positioning results with high precision (for example, the typical accuracy value is less than 1 m) to the high-precision application through the high-precision reporting channel. In this way, it is ensured that the channel through which the ordinary application obtains the positioning result and the channel through which the high-precision application obtains the positioning result are isolated from each other.
  • the security of high-precision positioning result output is improved, and the security requirements of different countries or regions are met.
  • the electronic device calculates the high-precision positioning coordinates in the first coordinate system, which specifically includes: the electronic device obtains the first GNSS observation data through a global satellite navigation system GNSS chip; the electronic device obtains the first GNSS observation data; Obtaining positioning assistance data; the electronic device calculates high-precision positioning coordinates in the first coordinate system based on the first GNSS observation data and the positioning assistance data.
  • the electronic device adds a deflection factor to the high-precision positioning coordinates, and encrypts it with a preset encryption algorithm to obtain encrypted deflection coordinates, which specifically includes: the electronic device adds a deflection factor to the high-precision positioning coordinates factor to obtain high-precision deflection coordinates in the second coordinate system; the electronic device encrypts the high-precision deflection coordinates through a preset encryption algorithm to obtain the encrypted deflection coordinates.
  • the first coordinate system may be the World Geodetic System WGS84 coordinate system
  • the second coordinate system may be the National Survey Bureau GCJ02 coordinate system
  • the preset encryption algorithm may include: SM4 national encryption algorithm.
  • the method further includes: the electronic device obtains a second positioning instruction of the second application; in response to the second positioning instruction, the electronic device calculates a common positioning in the first coordinate system coordinates; the electronic device reports the common positioning coordinates to the second application.
  • the electronic device calculates the common positioning coordinates in the first coordinate system, which specifically includes: the electronic device obtains second GNSS observation data through the GNSS chip; 2. GNSS observation data, and solve the common positioning coordinates in the first coordinate system.
  • the electronic device includes a high-precision positioning engine and a common positioning engine; the electronic device calculates the high-precision positioning coordinates in the first coordinate system, and specifically includes: the electronic device uses the high-precision positioning engine Solve the high-precision positioning coordinates in the first coordinate system; the electronic device solves the common positioning coordinates in the first coordinate system, which specifically includes: the electronic device solves the first coordinate system through the common positioning engine.
  • the electronic device includes a positioning engine, and the positioning engine includes a high-precision positioning function and a common positioning function; the electronic device calculates the high-precision positioning coordinates in the first coordinate system, specifically including: the The electronic device enables the high-precision positioning function of the positioning engine, and calculates the high-precision positioning coordinates in the first coordinate system through the positioning engine; the method further includes: the electronic device obtains the second positioning instruction of the second application; When the difference between the time when the first positioning command is obtained and the time when the second positioning command is obtained is less than a preset time, the electronic device adds random errors to the high-precision positioning coordinates to obtain ordinary positioning coordinates, which are the normal positioning coordinates. The precision value of the coordinates is greater than the precision value of the high-precision positioning coordinates; the electronic device reports the common positioning coordinates to the second application.
  • the method further includes: when the difference between the time when the first positioning instruction is acquired and the time when the second positioning instruction is acquired is greater than or equal to the preset time, the electronic device enables the positioning The ordinary positioning function of the engine is used, and the second GNSS observation data is obtained through the GNSS chip; the electronic device calculates the ordinary positioning coordinates through the positioning engine based on the second observation data.
  • the method further includes: the electronic device determines the positioning of the high-precision positioning coordinates Precision value.
  • the method further includes: when the difference between the time when the first positioning instruction is acquired and the time when the second positioning instruction is acquired is less than the preset time, and the positioning accuracy value of the high-precision positioning coordinates is less than the preset accuracy value, The electronic device adds random errors to the high-precision positioning coordinates to obtain common positioning coordinates, and the precision value of the common positioning coordinates is greater than the precision value of the high-precision positioning coordinates;
  • the electronic device determines the high-precision positioning coordinates as the common positioning coordinates.
  • the first GNSS observation data includes one or more of pseudorange observations, Doppler frequency observations, and carrier phase observations.
  • the method further includes: the electronic device calculates a probability position based on the first GNSS observation data; the electronic device sends the probability position to a server.
  • the electronic device obtains the positioning assistance data, which specifically includes: the electronic device obtains the positioning assistance data determined by the server based on the probability position and the observation data and position information of the N reference stations when observing the satellite, and the positioning assistance data includes Observation data and position information of the reference station, N is a positive integer.
  • the electronic device calculates the high-precision positioning coordinates in the first coordinate system based on the first GNSS observation data and the positioning assistance data, which specifically includes:
  • the RTK positioning method solves the high-precision positioning coordinates in the first coordinate system.
  • the first GNSS observation data includes one or more of pseudorange observations, Doppler frequency observations, and carrier phase observations.
  • the electronic device obtains the positioning assistance data, which specifically includes: the electronic device receives the positioning assistance data broadcast by a mobile communication base station or a satellite, and the positioning assistance data includes one or more of precise ephemeris or ephemeris correction data, and atmospheric correction numbers. indivual.
  • the electronic device calculates the high-precision positioning coordinates in the first coordinate system based on the first GNSS observation data and the positioning assistance data, which specifically includes: The high-precision positioning coordinates in the first coordinate system are solved by the point PPP positioning method.
  • the second GNSS observation quantity data includes one or more of pseudorange observation quantity and Doppler frequency observation quantity.
  • the method further includes: the electronic device may acquire inertial measurement data through an inertial measurement unit, where the inertial measurement data includes the information of the electronic device. Accelerometer sensor data and gyroscope sensor data.
  • the electronic device calculates the high-precision positioning coordinates in the first coordinate system based on the first GNSS observation data and the positioning assistance data, which specifically includes: the electronic device is based on the first GNSS observation data and the positioning assistance data, and the inertial measurement data, perform inertial navigation, and calculate the high-precision positioning coordinates in the first coordinate system.
  • inertial navigation technology can be combined to increase the accuracy of high-precision positioning results.
  • the method further includes: the electronic device may acquire inertial measurement data through an inertial measurement unit, where the inertial measurement data includes the information of the electronic device. Accelerometer sensor data and gyroscope sensor data.
  • the electronic device calculates the common positioning coordinates in the first coordinate system based on the second GNSS observation data, which specifically includes: the electronic device performs inertial navigation based on the second GNSS observation data and the inertial measurement data, and calculates the common positioning coordinates in the first coordinate system.
  • the inertial navigation technology can be combined to increase the accuracy of ordinary positioning results.
  • the method further includes: the electronic device passes a decryption key corresponding to the preset encryption algorithm in the first application , decrypt the encrypted deflection coordinates to obtain the high-precision deflection coordinates.
  • the electronic device performs lane-level navigation through the map resource package provided in the first application and the high-precision deflection coordinates.
  • the electronic device obtains the first GNSS observation data through a GNSS chip, which specifically includes: the electronic device authenticates the first application, and after the first application is authenticated successfully, The electronic device acquires the first GNSS observation data through the GNSS chip.
  • the first application before performing high-precision positioning, the first application can be authenticated to ensure that the first application is an application that can be authorized to use the high-precision positioning result.
  • the electronic device authenticates the first application, which specifically includes: the electronic device sends an authentication request to an authentication server, and the authentication request includes the identifier of the first application; When the electronic device receives the authentication success information sent by the authentication server, the electronic device successfully authenticates the first application.
  • the electronic device authenticates the first application, which specifically includes: the electronic device determines whether the high-precision application whitelist includes the identifier of the first application, and if so, the electronic device The first application is successfully authenticated, wherein the high-precision application whitelist includes one or more high-precision application identifiers.
  • the present application provides an electronic device, comprising: one or more processors, a GNSS chip, and one or more memories; wherein the one or more memories are coupled with the one or more processors, and the one or more memories
  • a plurality of memories are used to store computer program code, the computer program code includes computer instructions, when the one or more processors are executing the computer instructions, make the electronic device perform any of the possible implementations of any of the above aspects. positioning method.
  • the present application provides a chip system, which is applied to an electronic device, the chip system includes an application processor and a GNSS chip, and the chip system executes the positioning method in any possible implementation manner of any one of the above aspects.
  • the present application provides a computer storage medium, including computer instructions, which, when the computer instructions are executed on an electronic device, cause the electronic device to perform the positioning method in any of the possible implementations of any of the foregoing aspects.
  • the present application provides a computer program product that, when the computer program product runs on a computer, enables the computer to execute the positioning method in any of the possible implementations of any of the foregoing aspects.
  • the present application provides an electronic device, including one or more functional modules; the one or more functional modules are used to execute the positioning method in any of the possible implementations of any of the foregoing aspects.
  • FIG. 1 is a schematic structural diagram of a positioning system according to an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a positioning result reporting provided by an embodiment of the present application.
  • FIG. 3 is a schematic flowchart of another positioning result reporting provided by an embodiment of the present application.
  • FIG. 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of functional modules of an electronic device provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of another functional module of the electronic device provided by the embodiment of the present application.
  • FIG. 7 is a schematic diagram of another functional module of the electronic device provided by the embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a positioning method provided by an embodiment of the present application.
  • FIG. 9 is a schematic flowchart of another positioning method provided by an embodiment of the present application.
  • 10A-10E are interface schematic diagrams of lane-level navigation of a group of high-precision applications provided by an embodiment of the present application.
  • FIG. 11 is another schematic structural diagram of an electronic device provided by an embodiment of the present application.
  • first and second are only used for descriptive purposes, and should not be construed as implying or implying relative importance or implying the number of indicated technical features. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, the “multiple” The meaning is two or more.
  • FIG. 1 shows a schematic structural diagram of a positioning system 10 provided in an embodiment of the present application.
  • the positioning system 10 includes: N continuously operating reference stations (CORS) (referred to as reference stations for short), a server 200 and an electronic device 100 , where N is a positive integer.
  • CORS continuously operating reference stations
  • the N reference stations can be distributed in different areas, the position of the reference station is generally fixed, and the reference station has saved its own accurate position.
  • the reference station When the reference station establishes a connection with the server 200, it can send its own accurate position. to the server.
  • Each reference station can collect satellite positioning signals in real time (eg, every 1 second), obtain measurement data, and send the measurement data to the server 200 .
  • the exact positions of the N reference station positions are stored on the server 200 .
  • the server 200 can obtain differential data of different regions according to the accurate location information and measurement data of the reference station. Between the server 200 and the electronic device 100, the establishment of a wireless link, authentication, and data exchange, etc. can be realized through the NTRIP protocol.
  • the server 200 can transfer the N
  • the target reference station that is closest to the electronic device 100 sends the differential data of the target reference station as positioning assistance data to the measurement device.
  • the positioning assistance data may include one or more of RTK data, ephemeris data, RTD data or correction data, and other data transmitted using differential signaling format (RTCM).
  • RTCM differential signaling format
  • the electronic device 100 may correct the measured satellite positioning result based on the positioning assistance data to obtain a high-precision positioning result.
  • the above-mentioned positioning assistance data may also be broadcast by the electronic device 100 from the base station or satellite of the mobile communication network.
  • the positioning assistance data may include precise ephemeris or ephemeris correction data, atmospheric correction numbers, and the like.
  • the electronic device 100 may obtain positioning assistance data from satellites, and at this time, the positioning assistance data may include precise ephemeris or satellite Calendar correction data, atmospheric corrections, etc.
  • FIG. 2 shows a schematic flowchart of a positioning result reporting provided by the present application.
  • the process of reporting the positioning result to the application in the electronic device 100 may include the following steps:
  • the electronic device 100 can obtain GNSS observation data, such as pseudo-range observation data, Doppler frequency observation data, etc., through the GNSS chip.
  • GNSS observation data such as pseudo-range observation data, Doppler frequency observation data, etc.
  • the electronic device 100 can use the common positioning calculation module to calculate the positioning calculation result of ordinary precision from the GNSS observation data.
  • the electronic device 100 can convert the positioning solution result to a preset coordinate system (for example, a world geodetic system (1984, WGS84) coordinate system) through a standard reporting path, obtain the WGS84 positioning coordinates, and convert the WGS84 positioning coordinates Report to positioning applications such as maps and sports.
  • a preset coordinate system for example, a world geodetic system (1984, WGS84) coordinate system
  • the electronic device 100 converts the positioning calculation result into WGS84 positioning coordinates and reports it to the upper-layer map, sports and other positioning applications. In this way, it can only be applied to the positioning result reporting process with ordinary precision (eg, the typical precision value is 3m-5m).
  • the typical precision value is 3m-5m.
  • the above process cannot be applied to the reporting of positioning results with high accuracy (for example, the typical accuracy value is less than 1 m).
  • FIG. 3 shows another schematic flowchart of positioning result reporting in the present application.
  • the process of reporting the positioning result to the application in some professionally measured electronic devices 100 may include the following steps:
  • the electronic device 100 obtains GNSS observation data, such as pseudorange observation data, Doppler frequency observation data, and carrier phase observation data, through the GNSS chip.
  • GNSS observation data such as pseudorange observation data, Doppler frequency observation data, and carrier phase observation data
  • the electronic device 100 may calculate the probabilistic position based on the GNSS observation data through pseudorange single point calculation or other methods.
  • the electronic device 100 may report the probability location to the server 200 .
  • the server 200 may determine differential assistance data from the measurement data of the N reference stations according to the probability position (for example, calculate the measurement data of the reference station closest to the electronic device 100 to out the correction value as the differential auxiliary data). The server 200 may transmit the differential assistance data to the electronic device 100 .
  • the electronic device 100 can complete the RTK high-precision positioning from the GNSS observation data and the differential assistance data through a common positioning solution module, and obtain a high-precision positioning result.
  • the electronic device 100 can convert the high-precision positioning solution result to a preset coordinate system (eg, the WGS84 coordinate system) through the reporting path, obtain high-precision WGS84 positioning coordinates, and save the high-precision WGS84 positioning coordinates as a data record.
  • a preset coordinate system eg, the WGS84 coordinate system
  • the measuring equipment converts the high-precision positioning results into WGS84 positioning coordinates and saves them as data records, and does not take any protection measures for the high-precision positioning results.
  • many countries or regions do not allow ordinary unauthorized devices (such as mobile phones and other consumer electronic devices) to directly output high-precision positioning results to prevent illegal acquisition and use by unauthorized applications. Therefore, the above-mentioned reporting process of high-precision positioning results cannot be applied to common consumer electronic products.
  • the embodiment of the present application provides a positioning method, and the electronic device 100 can provide two services of ordinary positioning and high-precision positioning for upper-layer applications through authority control and independent reporting channel design.
  • the electronic device 100 may report the positioning result with a common precision (for example, a typical precision value of 3 m to 5 m) to the common application through a common reporting channel.
  • a common precision for example, a typical precision value of 3 m to 5 m
  • the electronic device 100 can encrypt and report the positioning results with high precision (eg, the typical precision value is less than 1 m) to the high-precision application through the high-precision reporting channel.
  • FIG. 4 shows a schematic structural diagram of the electronic device 100 .
  • the electronic device 100 shown in FIG. 4 is only an example, and the electronic device 100 may have more or fewer components than those shown in FIG. 4 , two or more components may be combined, or Different component configurations are possible.
  • the various components shown in FIG. 4 may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and/or application specific integrated circuits.
  • the electronic device 100 may be a cell phone, tablet computer, desktop computer, laptop computer, handheld computer, notebook computer, ultra-mobile personal computer (UMPC), netbook, as well as cellular telephones, personal digital assistants (personal digital assistants) digital assistant (PDA), augmented reality (AR) devices, virtual reality (VR) devices, artificial intelligence (AI) devices, wearable devices, in-vehicle devices, smart home devices and/or Smart city equipment, the embodiments of the present application do not specifically limit the specific type of the electronic equipment.
  • PDA personal digital assistants
  • AR augmented reality
  • VR virtual reality
  • AI artificial intelligence
  • the electronic device 100 may include: a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2.
  • Mobile communication module 150 wireless communication module 160, audio module 170, speaker 170A, receiver 170B, microphone 170C, headphone jack 170D, sensor module 180, buttons 190, motor 191, indicator 192, camera 193, display screen 194, And a subscriber identification module (subscriber identification module, SIM) card interface 195 and so on.
  • SIM subscriber identification module
  • the sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, and ambient light. Sensor 180L, bone conduction sensor 180M, etc.
  • the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on the electronic device 100 .
  • the electronic device 100 may include more or less components than shown, or combine some components, or separate some components, or arrange different components.
  • the illustrated components may be implemented in hardware, software, or a combination of software and hardware.
  • the processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (application processor, AP), a modem processor, a graphics processor (graphics processing unit, GPU), an image signal processor (image signal processor, ISP), controller, memory, video codec, digital signal processor (digital signal processor, DSP), baseband processor, and/or neural-network processing unit (NPU) Wait. Wherein, different processing units may be independent devices, or may be integrated in one or more processors.
  • application processor application processor, AP
  • modem processor graphics processor
  • graphics processor graphics processor
  • ISP image signal processor
  • controller memory
  • video codec digital signal processor
  • DSP digital signal processor
  • NPU neural-network processing unit
  • the controller may be the nerve center and command center of the electronic device 100 .
  • the controller can generate an operation control signal according to the instruction operation code and timing signal, and complete the control of fetching and executing instructions.
  • a memory may also be provided in the processor 110 for storing instructions and data.
  • the memory in processor 110 is cache memory. This memory may hold instructions or data that have just been used or recycled by the processor 110 . If the processor 110 needs to use the instruction or data again, it can be called directly from the memory. Repeated accesses are avoided and the latency of the processor 110 is reduced, thereby increasing the efficiency of the system.
  • the processor 110 may include one or more interfaces.
  • the interface may include an integrated circuit (inter-integrated circuit, I2C) interface, an integrated circuit built-in audio (inter-integrated circuit sound, I2S) interface, a pulse code modulation (pulse code modulation, PCM) interface, a universal asynchronous transceiver (universal asynchronous transmitter) receiver/transmitter, UART) interface, mobile industry processor interface (MIPI), general-purpose input/output (GPIO) interface, subscriber identity module (SIM) interface, and / or universal serial bus (universal serial bus, USB) interface, etc.
  • I2C integrated circuit
  • I2S integrated circuit built-in audio
  • PCM pulse code modulation
  • PCM pulse code modulation
  • UART universal asynchronous transceiver
  • MIPI mobile industry processor interface
  • GPIO general-purpose input/output
  • SIM subscriber identity module
  • USB universal serial bus
  • the charging management module 140 is used to receive charging input from the charger.
  • the charger may be a wireless charger or a wired charger.
  • the power management module 141 is used for connecting the battery 142 , the charging management module 140 and the processor 110 .
  • the power management module 141 receives input from the battery 142 and/or the charging management module 140 and supplies power to the processor 110 , the internal memory 121 , the external memory, the display screen 194 , the camera 193 , and the wireless communication module 160 .
  • the power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle times, battery health status (leakage, impedance).
  • the wireless communication function of the electronic device 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modulation and demodulation processor, the baseband processor, and the like.
  • Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals.
  • Each antenna in electronic device 100 may be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization.
  • the antenna 1 can be multiplexed as a diversity antenna of the wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.
  • the mobile communication module 150 may provide wireless communication solutions including 2G/3G/4G/5G etc. applied on the electronic device 100 .
  • the mobile communication module 150 may include at least one filter, switch, power amplifier, low noise amplifier (LNA) and the like.
  • the mobile communication module 150 can receive electromagnetic waves from the antenna 1, filter and amplify the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation.
  • the mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and then turn it into an electromagnetic wave for radiation through the antenna 1 .
  • at least part of the functional modules of the mobile communication module 150 may be provided in the processor 110 .
  • at least part of the functional modules of the mobile communication module 150 may be provided in the same device as at least part of the modules of the processor 110 .
  • the modem processor may include a modulator and a demodulator.
  • the modulator is used to modulate the low frequency baseband signal to be sent into a medium and high frequency signal.
  • the demodulator is used to demodulate the received electromagnetic wave signal into a low frequency baseband signal. Then the demodulator transmits the demodulated low-frequency baseband signal to the baseband processor for processing.
  • the low frequency baseband signal is processed by the baseband processor and passed to the application processor.
  • the application processor outputs sound signals through audio devices (not limited to the speaker 170A, the receiver 170B, etc.), or displays images or videos through the display screen 194 .
  • the modem processor may be a stand-alone device.
  • the modem processor may be independent of the processor 110, and may be provided in the same device as the mobile communication module 150 or other functional modules.
  • the wireless communication module 160 can provide applications on the electronic device 100 including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), bluetooth (BT), global navigation satellites Wireless communication solutions such as global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), and infrared technology (IR).
  • WLAN wireless local area networks
  • BT Bluetooth
  • GNSS global navigation satellite system
  • FM frequency modulation
  • NFC near field communication
  • IR infrared technology
  • the wireless communication module 160 may be one or more devices integrating at least one communication processing module.
  • the wireless communication module 160 receives electromagnetic waves via the antenna 2 , frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 110 .
  • the wireless communication module 160 can also receive the signal to be sent from the processor 110 , perform frequency modulation on it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2 .
  • the antenna 1 of the electronic device 100 is coupled with the mobile communication module 150, and the antenna 2 is coupled with the wireless communication module 160, so that the electronic device 100 can communicate with the network and other devices through wireless communication technology.
  • the wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), broadband Code Division Multiple Access (WCDMA), Time Division Code Division Multiple Access (TD-SCDMA), Long Term Evolution (LTE), BT, GNSS, WLAN, NFC , FM, and/or IR technology, etc.
  • the GNSS may include global positioning system (global positioning system, GPS), global navigation satellite system (global navigation satellite system, GLONASS), Beidou navigation satellite system (beidou navigation satellite system, BDS), quasi-zenith satellite system (quasi -zenith satellite system, QZSS) and/or satellite based augmentation systems (SBAS).
  • global positioning system global positioning system, GPS
  • global navigation satellite system global navigation satellite system, GLONASS
  • Beidou navigation satellite system beidou navigation satellite system, BDS
  • quasi-zenith satellite system quadsi -zenith satellite system, QZSS
  • SBAS satellite based augmentation systems
  • the electronic device 100 implements a display function through a GPU, a display screen 194, an application processor, and the like.
  • the GPU is a microprocessor for image processing, and is connected to the display screen 194 and the application processor.
  • the GPU is used to perform mathematical and geometric calculations for graphics rendering.
  • Processor 110 may include one or more GPUs that execute program instructions to generate or alter display information.
  • Display screen 194 is used to display images, videos, and the like.
  • Display screen 194 includes a display panel.
  • the display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (active-matrix organic light).
  • LED diode AMOLED
  • flexible light-emitting diode flexible light-emitting diode (flex light-emitting diode, FLED), Miniled, MicroLed, Micro-oLed, quantum dot light-emitting diode (quantum dot light emitting diodes, QLED) and so on.
  • the electronic device 100 may include one or N display screens 194 , where N is a positive integer greater than one.
  • the electronic device 100 may implement a shooting function through an ISP, a camera 193, a video codec, a GPU, a display screen 194, an application processor, and the like.
  • the ISP is used to process the data fed back by the camera 193 .
  • the shutter is opened, the light is transmitted to the camera photosensitive element through the lens, the light signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing, and converts it into an image visible to the naked eye.
  • ISP can also perform algorithm optimization on image noise, brightness, and skin tone.
  • ISP can also optimize the exposure, color temperature and other parameters of the shooting scene.
  • the ISP may be provided in the camera 193 .
  • Camera 193 is used to capture still images or video.
  • the object is projected through the lens to generate an optical image onto the photosensitive element.
  • the photosensitive element may be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor.
  • CMOS complementary metal-oxide-semiconductor
  • the photosensitive element converts the optical signal into an electrical signal, and then transmits the electrical signal to the ISP to convert it into a digital image signal.
  • the ISP outputs the digital image signal to the DSP for processing.
  • DSP converts digital image signals into standard RGB, YUV and other formats of image signals.
  • the electronic device 100 may include 1 or N cameras 193 , where N is a positive integer greater than 1.
  • a digital signal processor is used to process digital signals, in addition to processing digital image signals, it can also process other digital signals. For example, when the electronic device 100 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy and so on.
  • Video codecs are used to compress or decompress digital video.
  • the electronic device 100 may support one or more video codecs.
  • the electronic device 100 can play or record videos of various encoding formats, such as: Moving Picture Experts Group (moving picture experts group, MPEG) 1, MPEG2, MPEG3, MPEG4 and so on.
  • MPEG Moving Picture Experts Group
  • MPEG2 moving picture experts group
  • MPEG3 MPEG4
  • MPEG4 Moving Picture Experts Group
  • the NPU is a neural-network (NN) computing processor.
  • NN neural-network
  • Applications such as intelligent cognition of the electronic device 100 can be implemented through the NPU, such as image recognition, face recognition, speech recognition, text understanding, and the like.
  • the external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 100 .
  • the external memory card communicates with the processor 110 through the external memory interface 120 to realize the data storage function. For example to save files like music, video etc in external memory card.
  • Internal memory 121 may be used to store computer executable program code, which includes instructions.
  • the processor 110 executes various functional applications and data processing of the electronic device 100 by executing the instructions stored in the internal memory 121 .
  • the internal memory 121 may include a storage program area and a storage data area.
  • the storage program area can store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.), and the like.
  • the storage data area may store data (such as audio data, phone book, etc.) created during the use of the electronic device 100 and the like.
  • the internal memory 121 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, universal flash storage (UFS), and the like.
  • the electronic device 100 may implement audio functions through an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, an application processor, and the like. Such as music playback, recording, etc.
  • the audio module 170 is used for converting digital audio information into analog audio signal output, and also for converting analog audio input into digital audio signal. Audio module 170 may also be used to encode and decode audio signals.
  • Speaker 170A also referred to as a “speaker” is used to convert audio electrical signals into sound signals.
  • the receiver 170B also referred to as “earpiece”, is used to convert audio electrical signals into sound signals.
  • the microphone 170C also called “microphone” or “microphone”, is used to convert sound signals into electrical signals.
  • the earphone jack 170D is used to connect wired earphones.
  • the pressure sensor 180A is used to sense pressure signals, and can convert the pressure signals into electrical signals.
  • the pressure sensor 180A may be provided on the display screen 194 .
  • the gyro sensor 180B may be used to determine the motion attitude of the electronic device 100 .
  • the angular velocity of electronic device 100 about three axes ie, x, y, and z axes
  • the gyro sensor 180B can be used for image stabilization.
  • the gyro sensor 180B detects the shaking angle of the electronic device 100, calculates the distance that the lens module needs to compensate according to the angle, and allows the lens to offset the shaking of the electronic device 100 through reverse motion to achieve anti-shake.
  • the gyro sensor 180B can also be used for navigation and somatosensory game scenarios.
  • the acceleration sensor 180E can detect the magnitude of the acceleration of the electronic device 100 in various directions (generally three axes).
  • the magnitude and direction of gravity can be detected when the electronic device 100 is stationary. It can also be used to identify the posture of electronic devices, and can be used in applications such as horizontal and vertical screen switching, pedometers, etc.
  • the gyro sensor 180B and the acceleration sensor 180E may be referred to as an inertial measurement unit (IMU).
  • the inertial measurement unit can be used to detect the gyro sensor data and acceleration sensor data of the electronic device 100 , and then measure the specific force and angular velocity information of the electronic device 100 .
  • the electronic device 100 can combine the specific force and angular velocity information with the pseudorange and Doppler frequency observations obtained from the GNSS chip to complete inertial navigation, and calculate the position coordinates of the electronic device 100 at the next moment.
  • the electronic device 100 may also combine the specific force and angular velocity information with pseudorange, Doppler frequency observations, carrier phase observations, and positioning assistance data (eg, in RTK positioning technology) obtained from the GNSS chip.
  • Reference station and observation data and position information, or precise ephemeris or ephemeris correction data in PPP high-precision positioning, atmospheric correction numbers, etc.) complete inertial navigation, and calculate the position coordinates of the electronic device 100 at the next moment.
  • the air pressure sensor 180C is used to measure air pressure.
  • the electronic device 100 calculates the altitude through the air pressure value measured by the air pressure sensor 180C to assist in positioning and navigation.
  • the magnetic sensor 180D includes a Hall sensor.
  • Distance sensor 180F for measuring distance.
  • Proximity light sensor 180G may include, for example, light emitting diodes (LEDs) and light detectors, such as photodiodes.
  • the ambient light sensor 180L is used to sense ambient light brightness.
  • the electronic device 100 can adaptively adjust the brightness of the display screen 194 according to the perceived ambient light brightness.
  • the fingerprint sensor 180H is used to collect fingerprints.
  • the temperature sensor 180J is used to detect the temperature. Touch sensor 180K, also called "touch panel".
  • the touch sensor 180K may be disposed on the display screen 194 , and the touch sensor 180K and the display screen 194 form a touch screen, also called a “touch screen”.
  • the bone conduction sensor 180M can acquire vibration signals.
  • the keys 190 include a power-on key, a volume key, and the like.
  • Motor 191 can generate vibrating cues.
  • the indicator 192 can be an indicator light, which can be used to indicate the charging state, the change of the power, and can also be used to indicate a message, a missed call, a notification, and the like.
  • the SIM card interface 195 is used to connect a SIM card.
  • FIG. 5 shows a schematic diagram of functional modules of the electronic device 100 .
  • the electronic device 100 may include a high-precision application 501 , a common application 502 , an authority control module 503 , an interaction channel 504 , a positioning calculation module 505 , a GNSS chip 506 , an auxiliary data service module 507 , and an inertial measurement unit 508 .
  • the common application 502 may be an application of common map navigation, sports health, weather, and the like.
  • the common application 502 only needs to obtain the positioning result with common precision (for example, the typical precision value is 3m ⁇ 5m).
  • the high-precision application 501 may be a map application that provides functions such as lane-level navigation.
  • the high-precision application 501 needs to obtain high-precision positioning results (for example, the typical accuracy value is less than 1 m).
  • the authority control module 503 can only enable the common positioning function, and issue the positioning command to the positioning solving module 505 through the interactive channel 504 and the channel (7).
  • the positioning calculation module 505 can obtain the pseudorange and Doppler frequency observations reported by the GNSS chip 506 through the channel (11) to complete ordinary positioning, and obtain a positioning result with ordinary precision.
  • the positioning solution module 505 may be based on pseudorange and Doppler frequency observations reported by the GNSS chip 506 and inertial measurement data (including acceleration sensor data and gyroscope sensors) reported by the inertial measurement unit (IMU) 508 data, etc.) to complete ordinary positioning, and obtain ordinary positioning results.
  • the positioning calculation module 505 may report the ordinary positioning result to the interaction channel 504 through the channel (8) after obtaining the positioning calculation result of ordinary precision. After performing some processing, the interaction channel 504 can sequentially report the common positioning result to the common application 502 through the channel (6) and the channel (2).
  • the authority control module 503 When the authority control module 503 receives the high-precision positioning request initiated by the high-precision application 501 through the channel (3), the authority control module 503 can perform the authentication operation (12) with the authentication server 300 on the high-precision application 501. After the authentication is passed, the authority control module 503 can enable the high-precision positioning function, and sequentially issue high-precision positioning instructions to the positioning calculation module 505 through the channel (5) and the channel (7).
  • the positioning calculation module 505 can acquire the pseudorange and Doppler frequency observations and the carrier phase observations reported by the GNSS chip 506 through the channel (11).
  • the positioning calculation module 505 can also obtain the positioning assistance data (or the observation quantity correction data) obtained from the assistance data service module 507 through the channel (13).
  • the positioning calculation module 505 can complete a high-precision positioning calculation based on the pseudorange and Doppler frequency observations, carrier phase observations and positioning assistance data, and obtain a high-precision positioning result.
  • the high-precision positioning algorithm can take various forms: 1. Real-time kinematic (RTK) positioning technology: the auxiliary data service module 507 can obtain the positioning auxiliary data from the above-mentioned server 200 or the base station. Wherein, the positioning assistance data may include observation quantity data and position information of the reference station. 2. Precise point positioning (PPP) technology: the auxiliary data service module 507 can obtain the positioning assistance data sent by the mobile communication base station or broadcast by the satellite. The positioning assistance data may include precise ephemeris or ephemeris correction data, atmospheric correction numbers, and the like. In a specific implementation, the positioning calculation module 505 may also adopt other combined positioning technologies of RTK and PPP.
  • RTK Real-time kinematic
  • PPP Precision point positioning
  • the positioning assistance data may include precise ephemeris or ephemeris correction data, atmospheric correction numbers, and the like.
  • the positioning calculation module 505 may also adopt other combined positioning technologies of RTK and PPP.
  • inertial measurement unit (IMU) 508 may measure inertial measurement data of electronic device 100 , where inertial measurement data may include gyroscope sensor data and acceleration sensor data.
  • the positioning solution module 505 can also obtain inertial measurement data from the inertial measurement unit (IMU) 508 through the channel (9).
  • the positioning calculation module 505 can complete inertial navigation based on the above-mentioned high-precision positioning algorithm and inertial measurement data, so as to further improve the accuracy and stability of positioning, and obtain a high-precision positioning result. For example, the combination of RTK positioning and vehicle dead reckoning (VDR).
  • VDR vehicle dead reckoning
  • the positioning calculation module 505 can sequentially report to the high-precision positioning through independent reporting channels (for example, including channel (8), channel (6), and channel (4)). Apply 501.
  • the high-precision application 501 can complete the high-precision positioning service in combination with the map resource package, for example, realize lane-level navigation and the like.
  • the interaction channel 504 can sequentially perform standard coordinate format conversion on the high-precision positioning result and encrypt using a preset encryption algorithm to obtain encrypted deflection coordinates.
  • the interaction channel 504 can finally report the encrypted deflection coordinates to the high-precision application 501 .
  • the common application 502 and the high-precision application 501 initiate a positioning request at the same time, the common positioning result and the high-precision positioning result need to be output at the same time. There are differences between the common positioning result and the high-precision positioning result in positioning accuracy and coordinate format.
  • the common application 502 and the high-precision application respectively initiate positioning requests through independent channels. For example, the common application 502 sends a positioning request through channel (1), and the high-precision application 501 sends a positioning request through channel (3).
  • the positioning calculation module 505 reports the positioning results to the common application 502 and the high-precision application 501 respectively through independent channels. For example, the positioning calculation module 505 reports the common positioning results to the common application 502 through the channel (2), and the positioning calculation module 505
  • the high-precision positioning result can be reported to the high-precision application 501 through the channel (4).
  • the positioning calculation module 505 may calculate the auxiliary information (eg, code phase information, Doppler frequency, etc.) of the positioning result for different satellites even carrier phase information, etc.).
  • the positioning calculation module 505 can send the auxiliary information to the GNSS chip 506 through the channel (10).
  • the GNSS chip 506 can use the auxiliary information to capture and track satellite signals, so as to improve the accuracy of the GNSS observation data obtained by the GNSS chip 506 . In this way, the positioning performance can be further improved.
  • the electronic device 100 may report a high-precision positioning result to a high-precision application by calling a specified interface.
  • the electronic device 100 may call the requestHDLocationUpdate interface or the requestLocationUpdatesEx interface in a Huawei mobile service (huawei mobile service, HMS) to provide a high-precision positioning result to a high-precision application.
  • HMS Huawei mobile service
  • FIG. 6 shows a schematic diagram of functional modules of an electronic device 100 provided in an embodiment of the present application.
  • the electronic device 100 may include a high-precision application 601 , a common application 602 , a custom encryption module 603 , a coordinate conversion plug-in 604 , a positioning engine 605 , a GNSS chip 606 , an auxiliary data service 607 and an error adding module 609 .
  • the electronic device 100 may further include an inertial measurement unit 608 .
  • the high-precision application 601 may be a map application that provides functions such as lane-level navigation.
  • the high-precision application 601 needs to obtain high-precision positioning results (for example, the typical accuracy value is less than 1 m).
  • the common applications 602 may be common map navigation, sports health, weather and other applications.
  • the common application 602 only needs to obtain the positioning result with common precision (for example, the typical value is 3m ⁇ 5m).
  • the positioning solution module described above may include a positioning engine 605 .
  • the positioning engine 605 may include a common positioning function and a high-precision positioning function.
  • the common positioning result and the high-precision positioning result reported by the positioning engine 605 are respectively reported to the upper-layer application through two independent channels, which ensures the isolation between the reporting channel of the common positioning result and the reporting channel of the high-precision positioning result, that is, the channel level isolation.
  • the positioning engine 605 can obtain the GNSS observation data from the GNSS chip 606 and obtain the positioning assistance data through the assistance data service 607 .
  • the GNSS observation data may include pseudorange observations, Doppler frequency observations, carrier phase observations, and the like.
  • the positioning engine 605 can complete RTK calculation based on the GNSS observation data and the positioning assistance data, and obtain high-precision WGS84 coordinates.
  • the positioning engine 605 can complete the PPP high-precision solution based on the GNSS observation data and the positioning assistance data, and obtain high-precision WGS84 coordinates.
  • the positioning assistance data includes observational data and position information of the reference station, precise ephemeris or ephemeris correction data, atmospheric corrections, etc.
  • the positioning engine 605 can complete RTK and PPP based on the GNSS observational data and positioning assistance data. Combination method to solve, get high-precision WGS84 coordinates.
  • the coordinate format of the high-precision positioning result calculated by the positioning engine 605 is not limited to the coordinates in the above-mentioned WGS84 coordinate system format, and can also be in other coordinate systems (for example, Beijing 1954 coordinate system, Xi'an 1980 coordinate system, etc.)
  • the high-precision positioning performed by the positioning engine 605 is not limited to the above RTK and PPP positioning technologies, and may also be real time differential (RTD), post processed kinematic (PPK) Other differential positioning technologies, such as other differential positioning technologies, are not limited in the embodiments of the present application.
  • RTD real time differential
  • PPK post processed kinematic
  • Other differential positioning technologies such as other differential positioning technologies, are not limited in the embodiments of the present application.
  • the high-precision positioning engine 605 adopts different differential positioning technologies, the content of the positioning assistance data will also be different.
  • the positioning engine 605 may also acquire inertial measurement data from the inertial measurement unit 609 , where the inertial measurement data includes data such as acceleration sensor data and gyroscope sensor data.
  • the positioning engine 605 may further improve the accuracy and stability of positioning based on the GNSS observation data and the inertial measurement data reported by the inertial measurement unit 608 to obtain a high-precision positioning result. For example, the combination of RTK positioning and VDR technology.
  • the positioning engine 605 can report the high-precision WGS84 coordinates to the coordinate conversion plug-in 604 .
  • the coordinate conversion plug-in 604 (for example, in China, the GCJ02 deflection plug-in provided by the National Bureau of Surveying and Mapping) can add a deflection factor to the high-precision WGS84 coordinates to obtain high-precision deflection coordinates.
  • the coordinate conversion plug-in 604 can report the high-precision deflection coordinates to the custom encryption module 603 .
  • the self-defined encryption module 603 can encrypt the high-precision deflection coordinates through a preset encryption algorithm (for example, the SM4 national secret algorithm) to obtain the encrypted deflection coordinates.
  • the custom encryption module 603 can report the encrypted deflection coordinates to the high-precision application 601 .
  • the high-precision application 601 is preset with a decryption key corresponding to the preset encryption algorithm.
  • the high-precision application 601 can use the same deflection plug-in as the coordinate conversion plug-in 604 to add a deflection factor to the coordinates in the map resource package to obtain a deflection map resource package.
  • the high-precision application 601 can decrypt the high-precision deflection coordinates from the encrypted deflection coordinates based on the decryption key corresponding to the preset encryption algorithm.
  • the high-precision application 601 can perform high-precision navigation services such as lane-level navigation based on the high-precision deflection coordinates and the deflection map resource package.
  • the positioning engine 605 can enable the common positioning function, and obtain data such as pseudorange observations and Doppler frequency observations from the GNSS chip 606 .
  • the positioning engine 605 can stop acquiring the positioning assistance data from the assistance data service 607, and complete the positioning calculation based on the data such as pseudo-range observations and Doppler frequency observations, and obtain WGS84 coordinates of ordinary precision.
  • the positioning engine 605 may be based on data such as pseudo-range observations and Doppler frequency observations, and inertial measurement data (including data such as acceleration sensor data and gyroscope sensor data) reported by the inertial measurement unit 608 . Complete inertial navigation and get general positioning results.
  • the positioning engine 605 obtains the WGS84 coordinate information of ordinary precision, and reports the WGS84 coordinates of ordinary precision to the ordinary application 602 .
  • the common application 602 and the high-precision application 60 may initiate a positioning request at the same time, because the positioning engine 605 cannot separate the two types of results. Therefore, after obtaining the positioning request initiated by the common application 602, the positioning engine 605 can calculate the WGS84 coordinates based on the GNSS measurement data and the positioning assistance data. The positioning engine 605 can report the solved WGS84 coordinates to the error adding module 609 . The error adding module 609 can add random errors according to the high-precision state to the calculated WGS84 coordinate information to obtain WGS84 coordinates of ordinary precision.
  • the error adding module 609 can determine whether the precision value when the GNSS chip 606 solves the WGS84 coordinates is less than the preset precision value (for example, 3m), and if so, the error adding module 609 can add random errors to the high-precision WGS84 coordinate information, Increase the precision value of the high-precision WGS84 coordinates (for example, you can increase the precision value to 3m to 5m) to obtain the WGS84 coordinates of ordinary precision. If the precision value when the GNSS chip 606 calculates the WGS84 coordinate information is greater than or equal to a preset precision value (eg, 3m), the error adding module 609 can directly report the calculated WGS84 coordinate to the common application 602 .
  • a preset precision value eg, 3m
  • the positioning engine 605 can calculate the positioning accuracy when the WGS84 coordinates are calculated based on the GNSS measurement data and the positioning assistance data. For example, the positioning engine 605 may calculate the WGS84 coordinates through a Kalman filter based on the GNSS measurement data and the positioning assistance data. Among them, the covariance matrix of the Kalman filter can provide an estimate of the positioning accuracy.
  • the electronic device 100 can report ordinary positioning and high-precision positioning results through independent channels, and perform coordinate conversion and encryption processing in the process of reporting the high-precision results, which fully guarantees the security of the high-precision results output, so it can meet the needs of different countries. or regional policies and laws and regulations.
  • FIG. 7 shows a schematic diagram of functional modules of an electronic device 100 provided in an embodiment of the present application.
  • the electronic device 100 may include a high-precision application 701 , a common application 702 , a custom encryption module 703 , a coordinate conversion plug-in 704 , a high-precision positioning engine 705 , a GNSS chip 706 , an auxiliary data service 707 and a common positioning engine 709 .
  • the electronic device 100 may also include an inertial measurement unit (IMU) 708 .
  • IMU inertial measurement unit
  • the high-precision application 701 may be a map application that provides functions such as lane-level navigation.
  • the high-precision application 701 needs to obtain high-precision positioning results (for example, the typical accuracy value is less than 1 m).
  • Common applications 702 may be common map navigation, sports health, weather, and other applications.
  • the common application 702 only needs to obtain the positioning result with common precision (for example, the typical value is 3m ⁇ 5m).
  • the above-mentioned positioning calculation module may include a high-precision positioning engine 705 and a common positioning engine 709 .
  • the common positioning engine 709 can be used to obtain observations such as pseudorange and Doppler frequency from the GNSS chip 706 , and complete the positioning calculation based on the observations such as pseudorange and Doppler frequency to obtain WGS84 coordinates of ordinary precision.
  • the common positioning engine 709 may also acquire inertial measurement data from the inertial measurement unit 708 , where the inertial measurement data includes acceleration sensor data and gyroscope sensor data.
  • the common positioning engine 709 can complete inertial navigation based on observations such as pseudoranges, Doppler frequencies, and inertial measurement data, and calculate WGS84 coordinates with common precision.
  • the ordinary positioning engine 709 can report the ordinary precision WGS84 coordinates to the ordinary application 702 .
  • the high-precision positioning engine 705 can be used to obtain GNSS observation data from the GNSS chip 706 , and the GNSS observation data includes observation quantities such as pseudorange, Doppler frequency and carrier phase.
  • Hyperlocation engine 705 may obtain positioning assistance data from assistance data service 707 .
  • the positioning assistance data may include observation data of the reference station (including pseudoranges, Doppler frequency, carrier phase, etc. measured by the reference station to the satellite) and position information.
  • the high-precision positioning engine 705 can complete RTK calculation based on GNSS observation data and positioning assistance data, and obtain high-precision WGS84 coordinates.
  • the positioning assistance data may include precise ephemeris or ephemeris correction data, atmospheric correction numbers, and the like.
  • the high-precision positioning engine 705 can complete the high-precision PPP calculation based on the GNSS observation data and the positioning assistance data, and obtain high-precision WGS84 coordinates.
  • the positioning assistance data includes observation data and position information of the reference station, precise ephemeris or ephemeris correction data, atmospheric correction numbers, and the like.
  • the high-precision positioning engine 705 can complete the combined calculation of RTK and PPP based on GNSS observation data and positioning assistance data, and obtain high-precision WGS84 coordinates.
  • the high-precision positioning engine 705 may also acquire inertial measurement data from the inertial measurement unit 709 , where the inertial measurement data includes data such as acceleration sensor data and gyroscope sensor data.
  • the high-precision positioning engine 705 may further improve the accuracy and stability of positioning based on the GNSS observation data and the inertial measurement data reported by the inertial measurement unit 708 to obtain a high-precision positioning result. For example, the combination of RTK positioning and VDR technology.
  • the coordinate format of the high-precision positioning result calculated by the high-precision positioning engine 705 is not limited to the coordinates in the above-mentioned WGS84 coordinate system format, and can also be in other coordinate systems (for example, Beijing 1954 coordinate system, Xi'an 1980 coordinate system, etc.) .
  • the high-precision positioning performed by the high-precision positioning engine 705 is not limited to the above-mentioned RTK and PPP positioning technologies, and may also be other differential positioning technologies such as RTD and PPK, which are not limited in the embodiments of the present application.
  • RTK and PPP positioning technologies such as RTD and PPK, which are not limited in the embodiments of the present application.
  • PPK differential positioning technologies
  • the engine 705 uses different differential positioning techniques, there will be differences in the positioning assistance data.
  • the high-precision positioning engine 705 can report the WGS84 coordinates to the coordinate conversion plug-in 704 .
  • the coordinate conversion plug-in 704 (for example, in China, there is a GCJ02 deflection plug-in provided by the National Bureau of Surveying and Mapping) can add a deflection factor to the high-precision WGS84 coordinates to obtain high-precision deflection coordinates.
  • the coordinate conversion plug-in 704 can report the high-precision deflection coordinates to the custom encryption module 703 .
  • the self-defined encryption module 703 can encrypt the high-precision deflection coordinates through a preset encryption algorithm (such as the SM4 national secret algorithm) to obtain encrypted deflection coordinates.
  • the custom encryption module 703 can report the encrypted deflection coordinates to the high-precision application 701 .
  • the high-precision application 701 is preset with a decryption key corresponding to the preset encryption algorithm.
  • the map resource package in the high-precision application 701 is also processed by the coordinate conversion plug-in. That is to say, the position coordinates in the map resource package are obtained by adding deflection factors to the real position coordinates through the coordinate conversion plug-in.
  • the high-precision application 701 can decrypt the high-precision deflection coordinates from the encrypted deflection coordinates based on the decryption key corresponding to the preset encryption algorithm.
  • the high-precision application 701 can perform high-precision navigation services such as lane-level navigation based on the high-precision deflection coordinates and the map resource package.
  • the electronic device 100 can calculate the ordinary positioning results and the high-precision positioning results respectively through different positioning engines, and perform coordinate conversion and encryption processing in the process of reporting the high-precision results, which fully guarantees the security of the high-precision results output, and thus can meet the Policies and laws and regulations of different countries or regions have security requirements for positioning results.
  • FIG. 8 shows a schematic flowchart of a positioning method provided in an embodiment of the present application.
  • the method may include:
  • the electronic device 100 obtains a positioning instruction of an upper-layer application.
  • the upper-layer application may be a common application or a high-precision application.
  • the common applications may include common map navigation, sports health, weather and other applications.
  • High-precision applications can include mapping applications that provide features such as lane-level navigation, and the like. High-precision applications can obtain high-precision positioning results (for example, the typical accuracy value is less than 1m). Ordinary applications only need to obtain positioning results with ordinary accuracy (for example, a typical value of 3m to 5m).
  • the electronic device 100 may receive the user's input (eg, click) on the navigation start control in the interface of the navigation application, and in response to the input, the electronic device 100 may obtain the positioning instruction issued by the navigation application.
  • the electronic device 100 may receive an input of the user opening a weather application, and in response to the input, the electronic device 100 may acquire a positioning instruction issued by the weather application.
  • the electronic device 100 may determine whether the upper-layer application is a high-precision application in response to the positioning instruction. If yes, execute steps S803 to S808. If not, step S809 to step S811 are executed.
  • the electronic device 100 can authenticate the upper-layer application that initiates the positioning instruction through an authentication server. Specifically, after acquiring the positioning instruction, the electronic device 100 may send an authentication request to the authentication server, where the authentication request includes the identifier of the upper-layer application.
  • the authentication server can determine whether there is an identifier of the upper-layer application in the stored high-precision application whitelist, and if so, the authentication server can return authentication success information to the electronic device 100, and the authentication success information can be used to indicate the upper-layer application. for high precision applications.
  • the high-precision application whitelist includes identifiers of multiple high-precision applications. After the electronic device 100 receives the authentication success information sent by the authentication server, the electronic device 100 can determine that the upper-layer application is a high-precision application.
  • the authentication server can return authentication failure information to the electronic device 100, and the authentication failure information can be used to indicate that the upper-layer application is a common application. After the electronic device 100 receives the authentication failure information sent by the authentication server, the electronic device 100 can determine that the upper-layer application is a common application.
  • the high-precision application whitelist may be stored on the electronic device 100 .
  • the electronic device 100 can determine whether the high-precision application whitelist includes the identifier of the upper-layer application, and if so, the electronic device 100 can determine that the upper-layer application is a high-precision application; if not, the electronic device 100 can determine that the upper-layer application is a high-precision application.
  • the application is a normal application.
  • the electronic device 100 may acquire the first GNSS observation data from the GNSS chip.
  • the electronic device 100 may acquire the first GNSS observation data from the GNSS chip.
  • the first GNSS observation quantity data includes pseudorange observation quantity, Doppler frequency observation quantity, carrier phase observation quantity, and so on.
  • the electronic device 100 may acquire positioning assistance data.
  • the electronic device 100 may calculate high-precision positioning coordinates in the first coordinate system based on the first GNSS observation data and the positioning assistance data.
  • the electronic device 100 may calculate the reference position based on the first GNSS observation data. For example, the electronic device 100 may calculate the reference position based on the pseudorange observations.
  • the electronic device 100 may transmit the reference position to the server 200 .
  • the server 200 may determine, from the N reference stations, one or more reference stations that are close to the reference position, and convert the observation data of the one or more reference stations (including the measurement data from the reference stations to the satellites)
  • the pseudorange, Doppler frequency, carrier phase, etc.) and position information are determined as positioning assistance data.
  • the server 200 may send the positioning assistance data to the electronic device 100 .
  • the electronic device 100 can obtain the positioning assistance data from the navigation message of the satellite.
  • the positioning assistance data may include precise ephemeris or ephemeris correction data, atmospheric correction numbers, and the like.
  • the positioning assistance data may include observation data of one or more reference stations (including pseudoranges, Doppler frequencies, Doppler frequencies, carrier phase, etc.) and position information, as well as precise ephemeris or ephemeris correction data, atmospheric corrections.
  • the high-precision positioning performed by the electronic device 100 is not limited to the above-mentioned RTK and PPP positioning technologies, and may also be real time differential (RTD), post processed kinematic (PPK) Other differential positioning technologies, such as other differential positioning technologies, are not limited in the embodiments of the present application. When different differential positioning technologies are used, the content of the positioning assistance data will also be different.
  • the electronic device 100 may measure inertial measurement data of the electronic device 100 through an inertial measurement unit (IMU), where the inertial measurement data includes acceleration sensor data and gyroscope sensor data.
  • IMU inertial measurement unit
  • the electronic device 100 can perform inertial navigation based on the first GNSS observation data and inertial measurement data, further improve the accuracy and stability of positioning, and obtain the high-precision positioning coordinates. For example, RTK positioning combined with VDR technology.
  • the first coordinate system may be the WGS84 coordinate system, the Beijing 1954 coordinate system, the Xi'an 1980 coordinate system, etc., which should not constitute a limitation, and may also be other coordinate systems.
  • the electronic device 100 may add a deflection factor to the high-precision positioning coordinates through the coordinate conversion plug-in to obtain high-precision deflection coordinates in the second coordinate system.
  • the electronic device 100 can calculate the deflection factor corresponding to the high-precision positioning coordinates through the deflection algorithm in the coordinate conversion plug-in. Then, the electronic device 100 may add the deflection factor to the high-precision positioning coordinates to obtain high-precision deflection coordinates in the second coordinate system.
  • the coordinate conversion plug-in may include any one of the GCJ02 coordinate conversion plug-in, the BD09 coordinate system conversion plug-in, and the like.
  • the second coordinate system is any of coordinate systems such as the GCJ02 coordinate system and the BD09 coordinate system.
  • the coordinate conversion plug-in is the GCJ02 coordinate conversion plug-in
  • the second coordinate system is any of the GCJ02 coordinate systems
  • the coordinate conversion plug-in is the GCJ02 coordinate conversion plug-in
  • the second coordinate system is any of the GCJ02 coordinate systems.
  • the high-precision positioning coordinates calculated by the electronic device 100 may be "latitude: 22.533867387389293, longitude: 113.918884573070101" in the WGS84 coordinate system.
  • the electronic device 100 determines the deflection factor including "latitude deflection factor: 0.010010110111001, longitude deflection factor: 0.011000111010011" through high-precision positioning coordinates and the deflection algorithm in the coordinate conversion plug-in.
  • the electronic device 100 adds the latitude value in the deflection factor to the latitude value of the high-precision positioning coordinate, and adds the latitude deflection factor of the deflection factor to the longitude value of the high-precision positioning coordinate to obtain the high-precision deflection coordinate.
  • the high-precision deflection coordinates may be "latitude: 22.543877497500294, longitude: 113.929884684080112".
  • the electronic device 100 may encrypt the high-precision deflection coordinates by using a preset encryption algorithm to obtain encrypted deflection coordinates.
  • the electronic device 100 can encrypt the high-precision deflection coordinates through a preset encryption algorithm (eg, SM4 national secret algorithm, etc.) to obtain encrypted deflection coordinates.
  • a preset encryption algorithm eg, SM4 national secret algorithm, etc.
  • a decryption key corresponding to the preset encryption algorithm may be preset in the high-precision application.
  • the electronic device 100 may report the encrypted deflection coordinates to the upper-layer application.
  • the upper-layer application When the upper-layer application is a high-precision application, a decryption key corresponding to the preset encryption algorithm is preset in the upper-layer application. After the electronic device 100 can report the encrypted deflection coordinates to the upper-layer application, the upper-layer application can decrypt the encrypted deflection coordinates through the decryption key to obtain high-precision deflection coordinates.
  • the upper-layer application may include a map resource package.
  • the map resource package is also processed by the coordinate conversion plugin. That is to say, the position coordinates in the map resource package are obtained by adding deflection factors to the real position coordinates through the coordinate conversion plug-in.
  • the upper-layer application can perform high-precision navigation services such as lane-level navigation based on the high-precision deflection coordinates and the map resource package.
  • the electronic device 100 may acquire the second GNSS observation data from the GNSS chip.
  • the electronic device 100 may acquire the second GNSS observation data from the GNSS chip.
  • the second GNSS observation quantity data may include observation quantities such as pseudorange and Doppler frequency.
  • the electronic device 100 may calculate common positioning coordinates based on the second GNSS observation data.
  • the electronic device 100 may measure inertial measurement data of the electronic device 100 through an inertial measurement unit (IMU), where the inertial measurement data includes acceleration sensor data and gyroscope sensor data.
  • IMU inertial measurement unit
  • the electronic device 100 may perform inertial navigation based on the second GNSS observation data and inertial measurement data to obtain the common positioning coordinates.
  • the positioning accuracy value of the common positioning coordinates is greater than the positioning accuracy value of the high-precision positioning coordinates, and the smaller the positioning accuracy value is, the more accurate the positioning result is.
  • the electronic device 100 may report the common positioning coordinates to the upper-layer application.
  • the upper-layer application can perform services such as positioning and navigation based on common positioning coordinates and map resource packages.
  • the electronic device 100 may include a positioning engine, and the positioning engine may include a normal positioning function and a high-precision positioning function.
  • the electronic device 100 can enable the high-precision positioning function of the positioning engine, and use the positioning engine to calculate the first coordinates based on the first GNSS observation data and the positioning assistance data. High-precision positioning coordinates in the system.
  • the electronic device 100 can sequentially add deflection and encryption to the high-precision positioning coordinates, and then report them to the upper-layer application.
  • the electronic device 100 can enable the normal positioning function of the positioning engine, and stop acquiring the positioning assistance data.
  • the electronic device 100 can use the positioning engine to calculate the common positioning coordinates in the first coordinate system based on the second GNSS observation data.
  • the electronic device 100 can report the common positioning coordinates to the upper-layer application.
  • the positioning accuracy value of the common positioning coordinates is smaller than the positioning accuracy value of the high-precision positioning coordinates, and the smaller the positioning accuracy value is, the more accurate the positioning result is.
  • the electronic device 100 only includes the relevant content of one positioning engine, and reference may be made to the above-mentioned embodiment shown in FIG. 6 , which will not be repeated here.
  • the electronic device 100 may include a general positioning engine and a high-precision positioning engine.
  • the electronic device 100 can use the high-precision positioning engine to calculate the high-precision positioning coordinates in the first coordinate system based on the first GNSS observation data and the positioning assistance data.
  • the electronic device 100 can sequentially add deflection and encryption to the high-precision positioning coordinates, and then report them to the upper-layer application.
  • the electronic device 100 can use a common positioning engine to calculate the common positioning coordinates in the first coordinate system based on the second GNSS observation data.
  • the electronic device 100 can report the common positioning coordinates to the upper-layer application.
  • the positioning accuracy value of the common positioning coordinates is smaller than the positioning accuracy value of the high-precision positioning coordinates, and the smaller the positioning accuracy value is, the more accurate the positioning result is.
  • the electronic device 100 includes related content of a common positioning engine and a high-precision positioning engine, and reference may be made to the above-mentioned embodiment shown in FIG. 7 , which will not be repeated here.
  • the positioning method provided by the embodiment of the present application, it is possible to realize the high-precision positioning service of sub-meter level ( ⁇ 1m) in the electronic device 100 by using GNSS high-precision positioning or combining the inertial integrated navigation technology, so that the high-precision positioning service such as lane-level navigation can be realized in the electronic device 100. application is realized. And through permission control and independent channel design, it provides two services of ordinary positioning and high-precision positioning at the same time.
  • the electronic device 100 can perform coordinate conversion and encryption processing in the process of reporting high-precision results, which ensures the isolation between the reporting channel for high-precision positioning results and the reporting channel for common positioning results, and ensures the security of high-precision results output. Therefore, the security requirements of the policies and laws and regulations of different countries or regions for the positioning results can be met.
  • the electronic device 100 may include a positioning engine. Both high precision applications and general applications may be included on the electronic device 100 .
  • High-precision applications can obtain high-precision positioning results (for example, the typical accuracy value is less than 1m). Ordinary applications only need to obtain positioning results with ordinary accuracy (for example, a typical value of 3m to 5m).
  • the electronic device 100 obtains the positioning instructions of the high-precision application and the common application at the same time (that is, the time interval between obtaining the positioning instructions of the high-precision application and the positioning instructions of the common application is less than a preset time threshold (for example, 1 second))
  • the electronic device 100 can first turn on the high-precision positioning function of the positioning engine, and solve the high-precision positioning coordinates.
  • the electronic device 100 sequentially adds deflection factors to the high-precision positioning coordinates, encrypts them, and reports them to the high-precision application.
  • the electronic device 100 can add random errors to the high-precision positioning coordinates, reduce the positioning accuracy value, and then report it to a common application. In this way, the safety of high-precision result output is guaranteed, and thus it can meet the requirements of policies and laws and regulations of different countries or regions.
  • FIG. 9 shows a schematic flowchart of a positioning method provided in an embodiment of the present application.
  • the method may include:
  • the electronic device 100 may simultaneously acquire the first positioning instruction initiated by the first application and the second positioning instruction initiated by the second application.
  • the electronic device 100 may determine that the first application is a high-precision application and the second application is a common application.
  • the electronic device 100 may determine that the first positioning instruction is simultaneously acquired and the second positioning command.
  • the first application when the electronic device 100 obtains the first positioning instruction of the first application, the first application can be authenticated through an authentication server. Specifically, after acquiring the first positioning instruction, the electronic device 100 may send a first authentication request to the authentication server, where the first authentication request includes the identifier of the first application. The authentication server can determine whether there is an identifier of the first application in the stored high-precision application whitelist, and if so, the authentication server can return the first authentication success information to the electronic device 100, and the first authentication success information is available to indicate that the first application is a high precision application.
  • the high-precision application whitelist includes identifiers of multiple high-precision applications. After the electronic device 100 receives the first authentication success information sent by the authentication server, the electronic device 100 can determine that the upper-layer application is a high-precision application.
  • the second application may be authenticated through an authentication server. Specifically, after acquiring the second positioning instruction, the electronic device 100 may send a second authentication request to the authentication server, where the second authentication request includes the identifier of the second application.
  • the authentication server can determine whether there is an identifier of the second application in the stored high-precision application whitelist, and if not, the authentication server can return the first authentication failure information to the electronic device 100, and the first authentication failure information is available to indicate that the second application is a normal application.
  • the high-precision application whitelist includes identifiers of multiple high-precision applications. After the electronic device 100 receives the first authentication failure information sent by the authentication server, the electronic device 100 may determine that the second application is a high-precision application.
  • the high-precision application whitelist may be stored on the electronic device 100 .
  • the electronic device 100 can determine whether the identifier of the first application is included in the high-precision application whitelist, and if so, the electronic device 100 can determine that the first application is a high-precision application.
  • the electronic device 100 can determine whether the identifier of the second application is included in the high-precision application whitelist, and if not, the electronic device 100 can determine that the second application is a high-precision application.
  • step S801 in the embodiment shown in FIG. 8 , which is not repeated here.
  • the electronic device 100 may acquire the first GNSS observation data from the GNSS chip.
  • step S803 in the aforementioned embodiment shown in FIG. 8 , which will not be repeated here.
  • the electronic device 100 may acquire positioning assistance data.
  • step S804 in the foregoing embodiment shown in FIG. 8 .
  • the electronic device 100 may calculate high-precision positioning coordinates in the first coordinate system based on the first GNSS observation data and the positioning assistance data.
  • the electronic device 100 may include only one positioning engine.
  • the positioning engine may include a high-precision positioning function and a low-precision positioning function.
  • the electronic device 100 can enable the high-precision positioning function of the positioning engine.
  • step S805 for details about the process for the positioning engine to calculate the high-precision positioning function, reference may be made to step S805 in the aforementioned embodiment shown in FIG. 8 , which will not be repeated here.
  • steps S906 to S908 may be performed, and simultaneously steps S909 to S910 may be performed.
  • the electronic device 100 may add a deflection factor to the high-precision positioning coordinates through the coordinate conversion plug-in to obtain high-precision deflection coordinates in the second coordinate system.
  • step S806 in the foregoing embodiment shown in FIG. 8 , which will not be repeated here.
  • the electronic device 100 may encrypt the high-precision deflection coordinates by using a preset encryption algorithm to obtain encrypted deflection coordinates.
  • step S807 for specific content, reference may be made to step S807 in the foregoing embodiment shown in FIG. 8 , and details are not repeated here.
  • the electronic device 100 may report the encrypted deflection coordinates to the first application.
  • step S808 in the foregoing embodiment shown in FIG. 8 , which will not be repeated here.
  • the electronic device 100 may add random errors to the high-precision positioning coordinates to obtain common positioning coordinates.
  • the electronic device 100 can generate a random error value through a random algorithm, and add the random error value to the high-precision positioning coordinates to obtain common positioning coordinates.
  • the high-precision positioning coordinates calculated by the electronic device 100 may be "latitude: 22.533867387389293", longitude: 113.918884573070101"" in the WGS84 coordinate system.
  • the random error value generated by the electronic device 100 through a random algorithm may include "latitude error: 0.000000056, longitude error: 0.000000023".
  • the electronic device 100 adds the latitude error value in the random error value to the latitude value of the high-precision positioning coordinates, and adds the longitude error value in the random error value to the longitude value of the high-precision positioning coordinates to obtain ordinary positioning coordinates.
  • the common positioning coordinates may be "latitude: 22.533867443389293", longitude: 113.918884596070101"".
  • the electronic device 100 may report the common positioning coordinates to the second application.
  • the second application can perform services such as positioning and navigation based on common positioning coordinates and a map resource package.
  • the electronic device 100 may include a map application, where the map application may be a high-precision application.
  • the electronic device 100 can obtain the first GNSS observation data and the positioning assistance data, and calculate the high-precision positioning based on the first GNSS observation data and the positioning assistance data. coordinate.
  • the electronic device 100 can sequentially add deflection factors and encrypt the high-precision positioning coordinates to obtain encrypted high-precision deflection coordinates, and report them to the map application.
  • the map application can decrypt the high-precision deflection coordinates and complete services such as lane-level navigation.
  • the electronic device 100 may display an interface 1010 with a home screen, the interface 1010 displays a page on which application icons are placed, and the page includes a plurality of application icons (eg, Weather app icon, Stocks app icon, Calculator app icon, Settings app icon, Mail app icon, Music app icon, Video app icon, Browser app icon, Map app icon 1011, Gallery app icon, Memo app icon, Voice assistant app icon, etc.).
  • a page indicator is also displayed below the multiple application icons to indicate the total number of pages on the home screen and the positional relationship between the currently displayed page and other pages.
  • the interface 1010 of the home screen may include three pages, and a white dot in the page indicator may indicate that the currently displayed page is the rightmost page among the three pages.
  • a white dot in the page indicator may indicate that the currently displayed page is the rightmost page among the three pages.
  • there are multiple tray icons eg, dialer application icon, message application icon, contact application icon, camera application icon below the page indicator, and the tray icon remains displayed when the page is switched.
  • the electronic device 100 may receive a user's input operation (eg, click) on the map application icon 1011 , and in response to the input operation, the electronic device 100 may display the map application interface 1020 as shown in FIG. 10B .
  • a user's input operation eg, click
  • the map application interface 1020 may include an address search input box 1021 , a search control 1022 , a map 1023 , and a position marker 1024 of the electronic device 100 in the map 1023 .
  • the address search input box 1021 may be used to receive the address name input by the user.
  • the search control 1022 can be used to trigger the electronic device 100 to display the location information corresponding to the address name input by the user.
  • the electronic device 100 may receive the address name (eg, "Shenzhen Wildlife Park") entered by the user in the address search input box 1021, and then the electronic device 100 may receive the user's input operation (eg, click) on the search control 1022, and responds Based on the input operation, the electronic device 100 may display the location marker corresponding to the address name and the location information corresponding to the address name on the map 1023 .
  • the address name eg, "Shenzhen Wildlife Park
  • the electronic device 100 may receive the user's input operation (eg, click) on the search control 1022, and responds Based on the input operation, the electronic device 100 may display the location marker corresponding to the address name and the location information corresponding to the address name on the map 1023 .
  • the electronic device 100 can display on the map 1023
  • the address name corresponds to the location marker 1025 and the detail page 1030 corresponding to the address name.
  • the details page 1030 of the address name includes location information 1031 corresponding to the address name (for example, "Guangdongzhou-Shenzhen-Nanshan District-No. 4065 Xilihu Road", etc.), route controls 1032, navigation controls 1033, etc. Wait.
  • the route control 1032 can be used to trigger the electronic device 100 to display route information from the location of the electronic device 100 to the location corresponding to the address name.
  • the navigation control 1033 can be used to trigger the electronic device 100 to display navigation information from the location of the electronic device 100 to the address name.
  • the electronic device 100 may receive a user's input operation (eg, click) with respect to the navigation control 1033, and in response to the input operation, display the navigation interface 1040 as shown in FIG. 10D .
  • the electronic device 100 may also, in response to the input operation for the navigation control 1033, obtain the first GNSS observation quantity information through the GNSS chip, and use the server 200 or the positioning assistance data broadcast by the base station or satellite.
  • the electronic device 100 may determine high-precision positioning coordinates based on the first GNSS observation information and the positioning assistance data.
  • the electronic device 100 can sequentially add deflection factors and encrypt the high-precision positioning coordinates to obtain encrypted high-precision deflection coordinates, and report them to the map application.
  • the electronic device 100 may determine the navigation information displayed on the navigation interface 1040 based on the high-precision deflection coordinates and the map resource package.
  • the navigation information includes route information, speed information of the electronic device 100, lane information, and the like.
  • the navigation interface 1040 may include a map 1041, location markers 1042, location markers 1025, routes 1043, distance and time information 1044, exit controls 1045, more controls 1046, and the like.
  • the location mark 1042 is used to indicate the location of the electronic device 100 in the map 1041 .
  • the position marker 1042 may display speed information of the electronic device 100 (for example, "0 km/h" at this time).
  • the location marker 1025 may be used to indicate the location of the destination (eg, "Shenzhen Safari Park") on the map 1041 .
  • the route 1043 can be used to represent route information from the location of the electronic device 100 to the destination.
  • the distance and time information 1044 is used to indicate the distance of the electronic device 100 from the destination (eg, "15 kilometers remaining") and the estimated time to reach the destination (eg, "expected to arrive at 8:28").
  • the exit control 13456 can be used to trigger the electronic device 100 to end the navigation.
  • the more controls 1346 may be used to trigger the electronic device 100 to display more navigation-related functional controls.
  • the electronic device 100 may also display prompt information 1046 on the navigation interface 1340 , where the prompt information 1046 is used to prompt the user that the electronic device 100 is determining the navigation information displayed on the navigation interface 1040 .
  • the electronic device 100 may display a navigation prompt box 1051 on the navigation interface 1040 .
  • Navigation information is displayed in the navigation prompt box 1051 .
  • the navigation information includes the lane 1052 where the electronic device 100 is located, the lane route information 1053, and the driving direction (for example, "please keep going straight toward Bell Road").
  • FIG. 11 shows another schematic structural diagram of an electronic device 100 provided by an embodiment of the present application.
  • the electronic device 100 includes: a processor 1101 , a receiver 1102 , a transmitter 1103 , a memory 1104 , a GNSS chip 1105 and a bus 1106 .
  • the processor 1101 includes one or more processing cores, and the processor 1101 executes various functional applications and information processing by running software programs and modules.
  • the receiver 1102 and the transmitter 1103 may be implemented as a communication component, which may be a baseband chip.
  • the memory 1104 is connected to the processor 1101 through a bus 1106 .
  • the memory 1104 may be used to store at least one program instruction, and the processor 1101 may be used to execute the at least one program instruction, so as to implement the technical solutions of the foregoing embodiments.
  • the implementation principle and technical effect thereof are similar to the related embodiments of the above method, and are not repeated here.
  • the electronic device 100 may further include an inertial measurement unit (not shown in FIG. 11 ).
  • an inertial measurement unit (not shown in FIG. 11 ).
  • the processor 1101 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, which can implement Alternatively, each method, step, and logic block diagram disclosed in the embodiments of the present application are executed.
  • a general purpose processor may be a microprocessor or any conventional processor or the like. The steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
  • the memory 1104 may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SS), etc., or a volatile memory (volatile memory), Such as random-access memory (random-access memory, RAM).
  • Memory is, without limitation, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
  • the memory 1104 in this embodiment of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and/or data.
  • the methods provided by the embodiments of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • When implemented in software it can be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated.
  • the computer may be a general purpose computer, a special purpose computer, a computer network, network equipment, user equipment, or other programmable apparatus.
  • the computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server, or data center by wire (eg, coaxial cable, optical fiber, digital subscriber line, DSL), or wireless (eg, infrared, wireless, microwave, etc.)
  • a readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media.
  • the available media can be magnetic media (eg, floppy disks, hard disks, magnetic tapes) ), optical media (eg, digital video disc (DWD), or semiconductor media (eg, SSD), etc.).

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Abstract

一种定位方法及相关装置，涉及定位技术领域，电子设备（100）可以通过权限控制和独立上报通道设计，为上层应用提供普通定位和高精度定位两种服务。对于普通应用（502），电子设备（100）可以通过普通上报通道（2）将普通精度(例如典型精度值为3m～5m)的定位结果上报给该普通应用（502）。对于高精度应用（501），电子设备（100）可以在确定该高精度应用（501）鉴权通过后，通过高精度上报通道（4），将高精度(例如典型精度值小于1m)的定位结果加密上报给高精度应用（501）。这样，保证了普通应用（502）获取定位结果的通道（2）和高精度应用（501）获取定位结果的通道（4）互相隔离。提高了高精度定位结果输出的安全性，满足了不同国家或地区的安全性要求。

Description

一种定位方法及相关装置
[根据细则91更正 25.10.2021]　
本申请要求于2020年10月22日提交中国专利局、申请号为202011141757.4、申请名称为“基于应用程序定位的方法、终端、芯片以及系统”以及于2021年1月30日提交中国专利局、申请号为202110131917.5、申请名称为“一种定位方法及相关装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及定位技术领域，尤其涉及一种定位方法及相关装置。
背景技术
在以智能手机为代表的电子设备中，位置服务(location based service，LBS)已成为一项必不可少的基础服务，为了得到准确的用户位置。
目前，智能手机等电子设备均使用了全球卫星导航系统(global navigation satellite system，GNSS)定位技术，如基于伪距测距的单点定位，精度一般能达到米级(如3～5m)，满足基本的定位与导航需求，如道路级导航，称之为普通定位服务。
为了进一步提高GNSS定位精度，需要从第三方基站引入对GNSS星历误差、大气误差等进行修正的辅助数据。比较典型的定位技术例如包括基于差分定位的差分全球卫星导航系统(differential navigation satellite system，DGNSS)与实时动态(real-time kinematic，RTK)技术、基于误差修正的精密单点(precise point positioning，PPP)技术等。其中，RTK技术与PPP技术均使用了载波相位进行测距，定位精度可达亚米(＜1m)甚至厘米级，可准确识别车辆行驶的车道信息，因而可以满足车道级导航的需求，称之为高精度定位服务。
为了保证国土安全，很多国家或地区不允许普通的非授权设备(如手机等消费电子设备)直接输出高精度的定位结果，以防止被未授权的应用非法获取并利用。
发明内容
本申请提供了一种定位方法及相关装置，实现了通过权限控制和独立上报通道设计，为上层应用提供普通定位和高精度定位两种服务，保证了普通应用获取定位结果的通道和高精度应用获取定位结果的通过互相隔离。提高了高精度定位结果输出的安全性，满足了不同国家或地区的安全性要求。
第一方面，本申请提供了一种定位方法，包括：电子设备获取到第一应用的第一定位指令；响应于该第一定位指令，该电子设备解算出第一坐标系中的高精度定位坐标；该电子设备在高精度定位坐标中添加偏转因子，并通过预设加密算法加密，得到加密偏转坐标；该电子设备将该加密偏转坐标上报给该第一应用。
通过申请中提供了一种定位方法，电子设备可以通过权限控制和独立上报通道设计，为上层应用提供普通定位和高精度定位两种服务。对于普通应用，电子设备可以通过普通上报通道将普通精度(例如典型精度值为3m～5m)的定位结果上报给该普通应用。对于高精度应用，电子设备可以在确定该高精度应用鉴权通过后，通过高精度上报通路，将高精度(例如 典型精度值小于1m)的定位结果加密上报给高精度应用。这样，保证了普通应用获取定位结果的通道和高精度应用获取定位结果的通过互相隔离。提高了高精度定位结果输出的安全性，满足了不同国家或地区的安全性要求。
在一种可能的实现方式中，该电子设备解算出第一坐标系中的高精度定位坐标，具体包括：该电子设备通过全球卫星导航系统GNSS芯片获取到第一GNSS观测量数据；该电子设备获取定位辅助数据；该电子设备基于该第一GNSS观测量数据和该定位辅助数据，解算出该第一坐标系中的高精度定位坐标。
在一种可能的实现方式中，该电子设备在高精度定位坐标中添加偏转因子，并通过预设加密算法加密，得到加密偏转坐标，具体包括：该电子设备在该高精度定位坐标中添加偏转因子，得到第二坐标系中的高精度偏转坐标；该电子设备将该高精度偏转坐标通过预设加密算法进行加密，得到该加密偏转坐标。
其中，第一坐标系可以为世界大地测量系统WGS84坐标系，第二坐标系可以为国测局GCJ02坐标系。预设加密算法可以包括：SM4国密算法。
在一种可能的实现方式中，该方法还包括：该电子设备获取到第二应用的第二定位指令；响应于该第二定位指令，该电子设备解算出该第一坐标系中的普通定位坐标；该电子设备将该普通定位坐标上报给该第二应用。
在一种可能的实现方式中，该电子设备解算出该第一坐标系中的普通定位坐标，具体包括：该电子设备通过该GNSS芯片获取到第二GNSS观测量数据；该电子设备基于该第二GNSS观测量数据，解算出该第一坐标系中的该普通定位坐标。
在一种可能的实现方式中，该电子设备包括高精度定位引擎和普通定位引擎；该电子设备解算出第一坐标系中的高精度定位坐标，具体包括：该电子设备通过该高精度定位引擎解算出该第一坐标系中的该高精度定位坐标；该电子设备解算出该第一坐标系中的普通定位坐标，具体包括：该电子设备通过该普通定位引擎解算出该第一坐标系中的该普通定位坐标。
这样，通过不同的定位引擎独立计算普通定位结果和高精度定位结果，并对高精度结果上报的过程中进行坐标转换和加密处理，充分保证了高精度结果输出的安全性。
在一种可能的实现方式中，该电子设备包括定位引擎，该定位引擎包括高精度定位功能和普通定位功能；该电子设备解算出该第一坐标系中的高精度定位坐标，具体包括：该电子设备开启该定位引擎的高精度定位功能，通过该定位引擎解算出该第一坐标系中的该高精度定位坐标；该方法还包括：该电子设备获取到第二应用的第二定位指令；当获取到该第一定位指令的时间与获取到该第二定位指令的时间之差小于预设时间时，该电子设备在该高精度定位坐标中添加随机误差，得到普通定位坐标，该普通定位坐标的精度值大于该高精度定位坐标的精度值；该电子设备将该普通定位坐标上报给该第二应用。
在一种可能的实现方式中，该方法还包括：当获取到该第一定位指令的时间与获取到该第二定位指令的时间之差大于等于该预设时间时，该电子设备开启该定位引擎的普通定位功能，并通过该GNSS芯片获取到第二GNSS观测量数据；该电子设备通过该定位引擎基于该第二观测量数据，解算出该普通定位坐标。
这样，通过一个定位引擎分时计算普通定位结果和高精度定位结果，并对高精度定位结果上报给高精度应用的过程中进行坐标转换和加密处理。在同时获取到普通应用和高精度应 用的定位指令时，可以先解算出高精度高精度定位结果，然后将高精度定位结果上报给高精度应用的过程中进行坐标转换和加密处理，同时在高精度定位结果中加入随机误差后上报给普通应用。充分保证了高精度结果输出的安全性。
在一种可能的实现方式中，在该电子设备通过该定位引擎解算出该第一坐标系中的该高精度定位坐标时，该方法还包括：该电子设备确定出该高精度定位坐标的定位精度值。该方法还包括：当获取到该第一定位指令的时间与获取到该第二定位指令的时间之差小于该预设时间，且该高精度定位坐标的定位精度值小于预设精度值时，该电子设备在该高精度定位坐标中添加随机误差，得到普通定位坐标，该普通定位坐标的精度值大于该高精度定位坐标的精度值；当获取到该第一定位指令的时间与获取到该第二定位指令的时间之差小于该预设时间，且该高精度定位坐标的定位精度值大于等于该预设精度值时，该电子设备将该高精度定位坐标确定为该普通定位坐标。
这样，可以在解算出的高精度定位结果准确性不高时，可以直接上报给普通应用，减少定位结果上报的时间。
在一种可能的实现方式中，该第一GNSS观测量数据包括伪距观测量和多普勒频率观测量中的一种或多种以及载波相位观测量。在该电子设备获取定位辅助数据之前，该方法还包括：该电子设备基于该第一GNSS观测量数据，解算出概率位置；该电子设备将该概率位置发送给服务器。该电子设备获取定位辅助数据，具体包括：该电子设备获取到该服务器基于该概率位置以及N个参考站观测卫星时的观测量数据以及位置信息确定出的该定位辅助数据，该定位辅助数据包括参考站的观测量数据和位置信息，N为正整数。该电子设备基于第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标，具体包括：该电子设备基于第一GNSS观测量数据和该定位辅助数据，通过实时动态RTK定位方式解算出该第一坐标系中的该高精度定位坐标。
这样，可以通过基于RTK技术完成高精度定位。
在一种可能的实现方式中，该第一GNSS观测量数据包括伪距观测量和多普勒频率观测量中的一种或多种以及载波相位观测量。该电子设备获取定位辅助数据，具体包括：该电子设备接收到移动通信基站或卫星播放的该定位辅助数据，该定位辅助数据包括精密星历或星历修正数据、大气改正数中的一个或多个。该电子设备基于第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标，具体包括：该电子设备基于第一GNSS观测量数据和该定位辅助数据，通过精密单点PPP定位方式解算出该第一坐标系中的该高精度定位坐标。
这样，可以通过基于PPP技术完成高精度定位。
在一种可能的实现方式中，该第二GNSS观测量数据包括伪距观测量和多普勒频率观测量中的一种或多种。
在一种可能的实现方式中，在该电子设备获取到该第一定位指令后，该方法还包括：该电子设备可以通过惯性测量单元获取到惯性测量数据，该惯性测量数据包括该电子设备的加速度传感器数据和陀螺仪传感器数据。该电子设备基于第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标，具体包括：该电子设备基于第一GNSS观测量 数据和定位辅助数据，以及该惯性测量数据，进行惯性导航，解算出该第一坐标系中的该高精度定位坐标。
这样，可以结合惯性导航技术，增加高精度定位结果的准确性。
在一种可能的实现方式中，在该电子设备获取到该第二定位指令后，该方法还包括：该电子设备可以通过惯性测量单元获取到惯性测量数据，该惯性测量数据包括该电子设备的加速度传感器数据和陀螺仪传感器数据。该电子设备基于第二GNSS观测量数据，解算出该第一坐标系中的普通定位坐标，具体包括：该电子设备基于第二GNSS观测量数据，以及该惯性测量数据，进行惯性导航，解算出该第一坐标系中的该普通定位坐标。
这样，可以结合惯性导航技术，增加普通定位结果的准确性。
在一种可能的实现方式中，在该电子设备将该加密偏转坐标上报给该第一应用后，该方法还包括：该电子设备通过第一应用中与该预设加密算法对应的解密密钥，对该加密偏转坐标进行解密，得到该高精度偏转坐标。该电子设备通过该第一应用中提供的地图资源包以及该高精度偏转坐标进行车道级导航。
在一种可能的实现方式中，该电子设备通过GNSS芯片获取到第一GNSS观测量数据，具体包括：该电子设备对该第一应用进行鉴权，当对该第一应用鉴权成功后，该电子设备通过该GNSS芯片获取到该第一GNSS观测量数据。
这样，可以在进行高精度定位之前，先对第一应用进行鉴权，保证第一应用是可授权使用高精度定位结果的应用。
在一种可能的实现方式中，该电子设备对该第一应用进行鉴权，具体包括：该电子设备向鉴权服务器发送鉴权请求，该鉴权请求包括该第一应用的标识；当该电子设备接收到该鉴权服务器发送的鉴权成功信息时，该电子设备对该第一应用鉴权成功。
在一种可能的实现方式中，该电子设备对该第一应用进行鉴权，具体包括：该电子设备判断高精度应用白名单中是否包括有该第一应用的标识，若是，则该电子设备对该第一应用鉴权成功，其中，该高精度应用白名单中包括有一个或多个高精度应用的标识。
第二方面，本申请提供了一种电子设备，包括：一个或多个处理器，GNSS芯片、一个或多个存储器；其中，一个或多个存储器与一个或多个处理器耦合，该一个或多个存储器用于存储计算机程序代码，该计算机程序代码包括计算机指令，当该一个或多个处理器在执行该计算机指令时，使得该电子设备执行上述任一方面任一项可能的实现方式中的定位方法。
第三方面，本申请提供了一种芯片系统，应用于电子设备，该芯片系统包括应用处理器和GNSS芯片，该芯片系统执行上述任一方面任一项可能的实现方式中的定位方法。
第四方面，本申请提供了一种计算机存储介质，包括计算机指令，当计算机指令在电子设备上运行时，使得电子设备执行上述任一方面任一项可能的实现方式中的定位方法。
第五方面，本申请提供了一种计算机程序产品，当计算机程序产品在计算机上运行时，使得计算机执行上述任一方面任一项可能的实现方式中的定位方法。
第六方面，本申请提供了一种电子设备，包括一个或多个功能模块；该一个或多个功能模块用于执行上述任一方面任一项可能的实现方式中的定位方法。
附图说明
图1为本申请实施例提供的一种定位系统的架构示意图；
图2为本申请实施例提供的一种定位结果上报的流程示意图；
图3为本申请实施例提供的另一种定位结果上报的流程示意图；
图4为本申请实施例提供的一种电子设备的结构示意图；
图5为本申请实施例提供的电子设备的功能模块示意图；
图6为本申请实施例提供的电子设备的另一功能模块示意图；
图7为本申请实施例提供的电子设备的另一功能模块示意图；
图8为本申请实施例提供的一种定位方法的流程示意图；
图9为本申请实施例提供的另一种定位方法的流程示意图；
图10A-图10E为本申请实施例提供的一组高精度应用的车道级导航的界面示意图；
图11为本申请实施例提供的电子设备的另一结构示意图。
具体实施方式
下面将结合附图对本申请实施例中的技术方案进行清除、详尽地描述。其中，在本申请实施例的描述中，除非另有说明，“/”表示或的意思，例如，A/B可以表示A或B；文本中的“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况，另外，在本申请实施例的描述中，“多个”是指两个或多于两个。
以下，术语“第一”、“第二”仅用于描述目的，而不能理解为暗示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征，在本申请实施例的描述中，除非另有说明，“多个”的含义是两个或两个以上。
首先，介绍本申请实施例提供的一种定位系统10的架构示意图。
图1示出了本申请实施例中提供的一种定位系统10的架构示意图。如图1所示，该定位系统10包括：N个连续运行参考站(continuously operating reference station，CORS)(简称为参考站)、服务器200和电子设备100，N为正整数。
其中，N个参考站可以分布在不同的区域，参考站的位置一般是固定的，参考站上已保存有自身的准确位置，参考站在与服务器200建立连接时，可以将自身的准确位置发送给服务器。每个参考站可以实时(例如每1秒)采集卫星定位信号，得到测量数据并将测量数据发送给服务器200。
服务器200上保存有N个参考站位置的准确位置。服务器200可以根据参考站的准确位置信息以及测量数据，获得不同区域的差分数据。服务器200与电子设备100之间可以通过NTRIP协议实现无线链路的建立、鉴权以及数据交互等，当服务器200接收到带着电子设备100发送的参考位置时，服务器200可以将N参考站中与电子设备100距离最近的目的参考站，并将目的参考站的差分数据作为定位辅助数据发送给测量型设备。其中，该定位辅助数 据可以包括RTK数据、星历数据、RTD数据或者改正数(correction data)中的一种或多种，以及其他的使用差分信号格式(RTCM)传输的数据。
电子设备100可以在接收到服务器200发送的定位辅助数据后，可以基于定位辅助数据对测量到的卫星定位结果进行修正，得到高精度定位结果。
在一种可能的实现方式中，当电子设备100采用精密单点定位PPP技术时，上述定位辅助数据也可以是电子设备100从移动通信网络的基站或者卫星播发的。其中，该定位辅助数据中可以包括精密星历或星历修正数据、大气改正数等等。
在一种可能的实现方式中，当电子设备100采用精密单点定位PPP技术时，电子设备100可以从卫星上获取到定位辅助数据，此时，该定位辅助数据中可以包括精密星历或星历修正数据、大气改正数等等。
图2示出了本申请提供的一种定位结果上报的流程示意图。
如图2所示，电子设备100中定位结果上报至应用的流程可以包括如下步骤：
1、电子设备100可以通过GNSS芯片获取到GNSS观测量数据，如伪距观测量数据、多普勒频率观测量数据等。
2、电子设备100可以通过普通定位解算模块可以从GNSS观测量数据中解算出普通精度的定位解算结果。
3、电子设备100可以通过标准上报通路将定位解算结果转换至预设坐标系(例如世界大地测量系统(world geodetic system 1984，WGS84)坐标系)中，得到WGS84定位坐标，并将WGS84定位坐标上报给地图、运动类等定位应用。
在上述定位结果上报流程中，电子设备100将定位解算结果转换成WGS84定位坐标上报给上层的地图、运动类等定位应用。这样，只能适用于普通精度(例如典型精度值3m-5m)的定位结果上报流程。为了保证国土安全，很多国家或地区不允许普通的非授权设备(如手机等消费电子设备)直接输出高精度的定位结果，以防止被未授权的应用非法获取并利用。因此，上述流程无法适用于高精度(例如典型精度值小于1m)的定位结果上报。
图3示出了本申请中的另一种定位结果上报的流程示意图。
如图3所示，在一些专业测量的电子设备100中定位结果上报至应用的流程可以包括如下步骤：
1、电子设备100通过GNSS芯片获取到GNSS观测量数据，如伪距观测量数据、多普勒频率观测量数据以及载波相位观测量数据等。
2、电子设备100可以基于GNSS观测量数据通过伪距单点计算或其他方式计算出概率位置。电子设备100可以将概率位置上报给服务器200。
3、服务器200可以在接收到电子设备100上报的概率位置后，根据概率位置从N个参考站的测量数据中确定出差分辅助数据(例如，将距离电子设备100最近的参考站的测量数据计算出改正值作为差分辅助数据)。服务器200可以将差分辅助数据发送给电子设备100。
4、电子设备100可以通过普通定位解算模块从GNSS观测量数据和差分辅助数据中完成RTK高精度定位，得到高精度的定位结果。
5、电子设备100可以通过上报通路将高精度定位解算结果转换至预设坐标系(例如WGS84坐标系)中，得到高精度WGS84定位坐标，并将高精度WGS84定位坐标保存为数 据记录。
在上述高精度定位结果上报流程中，测量型设备将高精度定位结果转换成WGS84定位坐标保存为数据记录，未对高精度定位结果进行任何保护措施。而为了保证国土安全，很多国家或地区不允许普通的非授权设备(如手机等消费电子设备)直接输出高精度的定位结果，以防止被未授权的应用非法获取并利用。因此，上述高精度定位结果的上报流程也无法适用于普通的消费类电子产品。
因此，本申请实施例中提供了一种定位方法，电子设备100可以通过权限控制和独立上报通道设计，为上层应用提供普通定位和高精度定位两种服务。对于普通应用，电子设备100可以通过普通上报通道将普通精度(例如典型精度值为3m～5m)的定位结果上报给该普通应用。对于高精度应用，电子设备100可以在确定该高精度应用鉴权通过后，通过高精度上报通路，将高精度(例如典型精度值小于1m)的定位结果加密上报给高精度应用。这样，保证了普通应用获取定位结果的通道和高精度应用获取定位结果的通过互相隔离。提高了高精度定位结果输出的安全性，满足了不同国家或地区的安全性要求。
下面介绍本申请实施例提供的一种电子设备100的结构示意图。
图4示出了电子设备100的结构示意图。
下面以电子设备100为例对实施例进行具体说明。应该理解的是，图4所示电子设备100仅是一个范例，并且电子设备100可以具有比图4中所示的更多的或者更少的部件，可以组合两个或多个的部件，或者可以具有不同的部件配置。图4中所示出的各种部件可以在包括一个或多个信号处理和/或专用集成电路在内的硬件、软件、或硬件和软件的组合中实现。
电子设备100可以是手机、平板电脑、桌面型计算机、膝上型计算机、手持计算机、笔记本电脑、超级移动个人计算机(ultra-mobile personal computer，UMPC)、上网本，以及蜂窝电话、个人数字助理(personal digital assistant，PDA)、增强现实(augmented reality，AR)设备、虚拟现实(virtual reality，VR)设备、人工智能(artificial intelligence,AI)设备、可穿戴式设备、车载设备、智能家居设备和/或智慧城市设备，本申请实施例对该电子设备的具体类型不作特殊限制。
电子设备100可以包括：处理器110，外部存储器接口120，内部存储器121，通用串行总线(universal serial bus，USB)接口130，充电管理模块140，电源管理模块141，电池142，天线1，天线2，移动通信模块150，无线通信模块160，音频模块170，扬声器170A，受话器170B，麦克风170C，耳机接口170D，传感器模块180，按键190，马达191，指示器192，摄像头193，显示屏194，以及用户标识模块(subscriber identification module，SIM)卡接口195等。其中传感器模块180可以包括压力传感器180A，陀螺仪传感器180B，气压传感器180C，磁传感器180D，加速度传感器180E，距离传感器180F，接近光传感器180G，指纹传感器180H，温度传感器180J，触摸传感器180K，环境光传感器180L，骨传导传感器180M等。
可以理解的是，本发明实施例示意的结构并不构成对电子设备100的具体限定。在本申请另一些实施例中，电子设备100可以包括比图示更多或更少的部件，或者组合某些部件，或者拆分某些部件，或者不同的部件布置。图示的部件可以以硬件，软件或软件和硬件的组合实现。
处理器110可以包括一个或多个处理单元，例如：处理器110可以包括应用处理器 (application processor，AP)，调制解调处理器，图形处理器(graphics processing unit，GPU)，图像信号处理器(image signal processor，ISP)，控制器，存储器，视频编解码器，数字信号处理器(digital signal processor，DSP)，基带处理器，和/或神经网络处理器(neural-network processing unit，NPU)等。其中，不同的处理单元可以是独立的器件，也可以集成在一个或多个处理器中。
其中，控制器可以是电子设备100的神经中枢和指挥中心。控制器可以根据指令操作码和时序信号，产生操作控制信号，完成取指令和执行指令的控制。
处理器110中还可以设置存储器，用于存储指令和数据。在一些实施例中，处理器110中的存储器为高速缓冲存储器。该存储器可以保存处理器110刚用过或循环使用的指令或数据。如果处理器110需要再次使用该指令或数据，可从所述存储器中直接调用。避免了重复存取，减少了处理器110的等待时间，因而提高了系统的效率。
在一些实施例中，处理器110可以包括一个或多个接口。接口可以包括集成电路(inter-integrated circuit，I2C)接口，集成电路内置音频(inter-integrated circuit sound，I2S)接口，脉冲编码调制(pulse code modulation，PCM)接口，通用异步收发传输器(universal asynchronous receiver/transmitter，UART)接口，移动产业处理器接口(mobile industry processor interface，MIPI)，通用输入输出(general-purpose input/output，GPIO)接口，用户标识模块(subscriber identity module，SIM)接口，和/或通用串行总线(universal serial bus，USB)接口等。
充电管理模块140用于从充电器接收充电输入。其中，充电器可以是无线充电器，也可以是有线充电器。
电源管理模块141用于连接电池142，充电管理模块140与处理器110。电源管理模块141接收电池142和/或充电管理模块140的输入，为处理器110，内部存储器121，外部存储器，显示屏194，摄像头193，和无线通信模块160等供电。电源管理模块141还可以用于监测电池容量，电池循环次数，电池健康状态(漏电，阻抗)等参数。
电子设备100的无线通信功能可以通过天线1，天线2，移动通信模块150，无线通信模块160，调制解调处理器以及基带处理器等实现。
天线1和天线2用于发射和接收电磁波信号。电子设备100中的每个天线可用于覆盖单个或多个通信频带。不同的天线还可以复用，以提高天线的利用率。例如：可以将天线1复用为无线局域网的分集天线。在另外一些实施例中，天线可以和调谐开关结合使用。
移动通信模块150可以提供应用在电子设备100上的包括2G/3G/4G/5G等无线通信的解决方案。移动通信模块150可以包括至少一个滤波器，开关，功率放大器，低噪声放大器(low noise amplifier，LNA)等。移动通信模块150可以由天线1接收电磁波，并对接收的电磁波进行滤波，放大等处理，传送至调制解调处理器进行解调。移动通信模块150还可以对经调制解调处理器调制后的信号放大，经天线1转为电磁波辐射出去。在一些实施例中，移动通信模块150的至少部分功能模块可以被设置于处理器110中。在一些实施例中，移动通信模块150的至少部分功能模块可以与处理器110的至少部分模块被设置在同一个器件中。
调制解调处理器可以包括调制器和解调器。其中，调制器用于将待发送的低频基带信号调制成中高频信号。解调器用于将接收的电磁波信号解调为低频基带信号。随后解调器将解调得到的低频基带信号传送至基带处理器处理。低频基带信号经基带处理器处理后，被传递给应用处理器。应用处理器通过音频设备(不限于扬声器170A，受话器170B等)输出声音信号，或通过显示屏194显示图像或视频。在一些实施例中，调制解调处理器可以是独立的器件。在另一些实施例中，调制解调处理器可以独立于处理器110，与移动通信模块150或其 他功能模块设置在同一个器件中。
无线通信模块160可以提供应用在电子设备100上的包括无线局域网(wireless local area networks，WLAN)(如无线保真(wireless fidelity，Wi-Fi)网络)，蓝牙(bluetooth，BT)，全球导航卫星系统(global navigation satellite system，GNSS)，调频(frequency modulation，FM)，近距离无线通信技术(near field communication，NFC)，红外技术(infrared，IR)等无线通信的解决方案。无线通信模块160可以是集成至少一个通信处理模块的一个或多个器件。无线通信模块160经由天线2接收电磁波，将电磁波信号调频以及滤波处理，将处理后的信号发送到处理器110。无线通信模块160还可以从处理器110接收待发送的信号，对其进行调频，放大，经天线2转为电磁波辐射出去。
在一些实施例中，电子设备100的天线1和移动通信模块150耦合，天线2和无线通信模块160耦合，使得电子设备100可以通过无线通信技术与网络以及其他设备通信。所述无线通信技术可以包括全球移动通讯系统(global system for mobile communications，GSM)，通用分组无线服务(general packet radio service，GPRS)，码分多址接入(code division multiple access，CDMA)，宽带码分多址(wideband code division multiple access，WCDMA)，时分码分多址(time-division code division multiple access，TD-SCDMA)，长期演进(long term evolution，LTE)，BT，GNSS，WLAN，NFC，FM，和/或IR技术等。所述GNSS可以包括全球卫星定位系统(global positioning system，GPS)，全球导航卫星系统(global navigation satellite system，GLONASS)，北斗卫星导航系统(beidou navigation satellite system，BDS)，准天顶卫星系统(quasi-zenith satellite system，QZSS)和/或星基增强系统(satellite based augmentation systems，SBAS)。
电子设备100通过GPU，显示屏194，以及应用处理器等实现显示功能。GPU为图像处理的微处理器，连接显示屏194和应用处理器。GPU用于执行数学和几何计算，用于图形渲染。处理器110可包括一个或多个GPU，其执行程序指令以生成或改变显示信息。
显示屏194用于显示图像，视频等。显示屏194包括显示面板。显示面板可以采用液晶显示屏(liquid crystal display，LCD)，有机发光二极管(organic light-emitting diode，OLED)，有源矩阵有机发光二极体或主动矩阵有机发光二极体(active-matrix organic light emitting diode的，AMOLED)，柔性发光二极管(flex light-emitting diode，FLED)，Miniled，MicroLed，Micro-oLed，量子点发光二极管(quantum dot light emitting diodes，QLED)等。在一些实施例中，电子设备100可以包括1个或N个显示屏194，N为大于1的正整数。
电子设备100可以通过ISP，摄像头193，视频编解码器，GPU，显示屏194以及应用处理器等实现拍摄功能。
ISP用于处理摄像头193反馈的数据。例如，拍照时，打开快门，光线通过镜头被传递到摄像头感光元件上，光信号转换为电信号，摄像头感光元件将所述电信号传递给ISP处理，转化为肉眼可见的图像。ISP还可以对图像的噪点，亮度，肤色进行算法优化。ISP还可以对拍摄场景的曝光，色温等参数优化。在一些实施例中，ISP可以设置在摄像头193中。
摄像头193用于捕获静态图像或视频。物体通过镜头生成光学图像投射到感光元件。感光元件可以是电荷耦合器件(charge coupled device，CCD)或互补金属氧化物半导体(complementary metal-oxide-semiconductor，CMOS)光电晶体管。感光元件把光信号转换成电信号，之后将电信号传递给ISP转换成数字图像信号。ISP将数字图像信号输出到DSP加工处理。DSP将数字图像信号转换成标准的RGB，YUV等格式的图像信号。在一些实施例中，电子设备100可以包括1个或N个摄像头193，N为大于1的正整数。
数字信号处理器用于处理数字信号，除了可以处理数字图像信号，还可以处理其他数字信号。例如，当电子设备100在频点选择时，数字信号处理器用于对频点能量进行傅里叶变换等。
视频编解码器用于对数字视频压缩或解压缩。电子设备100可以支持一种或多种视频编解码器。这样，电子设备100可以播放或录制多种编码格式的视频，例如：动态图像专家组(moving picture experts group，MPEG)1，MPEG2，MPEG3，MPEG4等。
NPU为神经网络(neural-network，NN)计算处理器，通过借鉴生物神经网络结构，例如借鉴人脑神经元之间传递模式，对输入信息快速处理，还可以不断的自学习。通过NPU可以实现电子设备100的智能认知等应用，例如：图像识别，人脸识别，语音识别，文本理解等。
外部存储器接口120可以用于连接外部存储卡，例如Micro SD卡，实现扩展电子设备100的存储能力。外部存储卡通过外部存储器接口120与处理器110通信，实现数据存储功能。例如将音乐，视频等文件保存在外部存储卡中。
内部存储器121可以用于存储计算机可执行程序代码，所述可执行程序代码包括指令。处理器110通过运行存储在内部存储器121的指令，从而执行电子设备100的各种功能应用以及数据处理。内部存储器121可以包括存储程序区和存储数据区。其中，存储程序区可存储操作系统，至少一个功能所需的应用程序(比如声音播放功能，图像播放功能等)等。存储数据区可存储电子设备100使用过程中所创建的数据(比如音频数据，电话本等)等。此外，内部存储器121可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件，闪存器件，通用闪存存储器(universal flash storage，UFS)等。
电子设备100可以通过音频模块170，扬声器170A，受话器170B，麦克风170C，耳机接口170D，以及应用处理器等实现音频功能。例如音乐播放，录音等。
音频模块170用于将数字音频信息转换成模拟音频信号输出，也用于将模拟音频输入转换为数字音频信号。音频模块170还可以用于对音频信号编码和解码。
扬声器170A，也称“喇叭”，用于将音频电信号转换为声音信号。
受话器170B，也称“听筒”，用于将音频电信号转换成声音信号。
麦克风170C，也称“话筒”，“传声器”，用于将声音信号转换为电信号。
耳机接口170D用于连接有线耳机。
压力传感器180A用于感受压力信号，可以将压力信号转换成电信号。在一些实施例中，压力传感器180A可以设置于显示屏194。
陀螺仪传感器180B可以用于确定电子设备100的运动姿态。在一些实施例中，可以通过陀螺仪传感器180B确定电子设备100围绕三个轴(即，x，y和z轴)的角速度。陀螺仪传感器180B可以用于拍摄防抖。示例性的，当按下快门，陀螺仪传感器180B检测电子设备100抖动的角度，根据角度计算出镜头模组需要补偿的距离，让镜头通过反向运动抵消电子设备100的抖动，实现防抖。陀螺仪传感器180B还可以用于导航，体感游戏场景。加速度传感器180E可检测电子设备100在各个方向上(一般为三轴)加速度的大小。当电子设备100静止时可检测出重力的大小及方向。还可以用于识别电子设备姿态，应用于横竖屏切换，计步器等应用。
在本申请实施例中陀螺仪传感器180B和加速度传感器180E可以被称为惯性测量单元(inertial measurement unit，IMU)。惯性测量单元可以用于检测电子设备100的陀螺仪传感器数据和加速度传感器数据，进而测量出电子设备100的比力和角速度信息。电子设备100可以将比力和角速度信息结合从GNSS芯片上获取到的伪距和多普勒频率观测量完成惯性导 航，推算出下一时刻电子设备100的位置坐标。
在一些实施例中，电子设备100也可以将比力和角速度信息结合从GNSS芯片上获取到的伪距、多普勒频率观测量、载波相位观测量以及定位辅助数据(例如RTK定位技术中的参考站和观测量数据和位置信息，或者PPP高精度定位中的精密星历或星历修正数据、大气改正数等等)完成惯性导航，推算出下一时刻电子设备100的位置坐标。
气压传感器180C用于测量气压。在一些实施例中，电子设备100通过气压传感器180C测得的气压值计算海拔高度，辅助定位和导航。磁传感器180D包括霍尔传感器。距离传感器180F，用于测量距离。接近光传感器180G可以包括例如发光二极管(LED)和光检测器，例如光电二极管。环境光传感器180L用于感知环境光亮度。电子设备100可以根据感知的环境光亮度自适应调节显示屏194亮度。指纹传感器180H用于采集指纹。温度传感器180J用于检测温度。触摸传感器180K，也称“触控面板”。触摸传感器180K可以设置于显示屏194，由触摸传感器180K与显示屏194组成触摸屏，也称“触控屏”。骨传导传感器180M可以获取振动信号。按键190包括开机键，音量键等。马达191可以产生振动提示。指示器192可以是指示灯，可以用于指示充电状态，电量变化，也可以用于指示消息，未接来电，通知等。SIM卡接口195用于连接SIM卡。
下面介绍本申请实施例中提供的一种电子设备100的功能模块。
图5示出了电子设备100的功能模块示意图。
如图5所示，该电子设备100可以包括高精度应用501、普通应用502、权限控制模块503、交互通道504、定位解算模块505、GNSS芯片506、辅助数据服务模块507、惯性测量单元508。
其中，普通应用502可以为普通地图导航类、运动健康类、天气类等应用。普通应用502仅需要获取普通精度(例如典型精度值为3m～5m)的定位结果。高精度应用501可以为提供车道级导航等功能的地图应用。高精度应用501需要获取高精度的定位结果(例如典型精度值小于1m)。
当只有普通应用502通过通道(1)发起定位请求时，权限控制模块503可以仅开启普通定位功能，并经过交互通道504以及通道(7)下发定位指令给定位解算模块505。定位解算模块505在接收到定位指令后，可以获取GNSS芯片506通过通道(11)上报的伪距和多普勒频率观测量完成普通定位，得到普通精度的定位结果。
在一些实施例中，定位解算模块505可以基于GNSS芯片506上报的伪距和多普勒频率观测量、以及惯性测量单元(IMU)508上报的惯性测量数据(包括加速度传感器数据和陀螺仪传感器数据等数据)完成普通定位，得到普通定位结果。定位解算模块505可以在得到普通精度的定位解算结果后，将普通定位结果通过通道(8)上报给交互通道504。交互通道504在进行一些处理后可以将普通定位结果通过通道(6)以及通道(2)依次上报给普通应用502。
当权限控制模块503接收到高精度应用501通过通道(3)发起高精度定位请求时，权限控制模块503可以与鉴权服务器300进行对高精度应用501进行鉴权操作(12)。在鉴权通过后，权限控制模块503可以开启高精定位功能，并通过通道(5)、通道(7)依次下达高精度定位指令给定位解算模块505。定位解算模块505可以获取GNSS芯片506通过通道(11)上报的伪距和多普勒频率观测量以及载波相位观测量。定位解算模块505还可以通过通道 (13)从辅助数据服务模块507获取到的定位辅助数据(或者观测量修正数据)。定位解算模块505可以基于伪距和多普勒频率观测量、载波相位观测量以及定位辅助数据，完成高精度定位解算，得到高精度定位结果。
其中，高精度定位算法可以采用多种形式：1、实时动态(real-time kinematic，RTK)定位技术：辅助数据服务模块507可以从上述服务器200或基站上获取到定位辅助数据。其中，该定位辅助数据可以包括参考站的观测量数据和位置信息。2、精密单点定位(precise point positioning，PPP)技术：辅助数据服务模块507可以获取到移动通信基站发送的或卫星播发的定位辅助数据。其中，该定位辅助数据可以包括精密星历或星历修正数据、大气改正数等。具体实现中，定位解算模块505还可以采用其他RTK与PPP的组合定位技术。
在一些实施例中，惯性测量单元(IMU)508可以测量电子设备100的惯性测量数据，其中，惯性测量数据可以包括陀螺仪传感器数据和加速度传感器数据。定位解算模块505还可以通过通道(9)从惯性测量单元(IMU)508中获取到惯性测量数据。定位解算模块505可以基于上述高精度定位算法以及惯性测量数据完成惯性导航，以进一步提高定位的精度和稳定性，得到高精度定位结果。例如RTK定位与车载航位推算(vehicle dead reckoning，VDR)的组合。
当定位解算模块505解算出高精度定位结果后，定位解算模块505可以将通过独立的上报通道(例如，包括通道(8)、通道(6)和通道(4))依次上报给高精度应用501。高精度应用501在获取到高精度定位结果后，可以结合地图资源包完成高精度定位的服务，例如，实现车道级导航等。其中，交互通道504在高精度定位结果的上报过程中，可以依次对高精度定位结果进行标准的坐标格式转换以及使用预设加密算法进行加密，得到加密的偏转坐标。交互通道504可以最终将加密的偏转坐标上报给高精度应用501。
当普通应用502和高精度应用501同时发起定位请求时，普通定位结果和高精度定位结果需要同时输出，在定位精度以及坐标格式上，普通定位结果和高精度定位结果存在差异。普通应用502和高精度应用分别通过独立的通道发起定位请求，例如普通应用502通过通道(1)发起定位请求，高精度应用501通过通道(3)发起定位请求。定位解算模块505分别通道独立的通道上报定位结果给普通应用502和高精度应用501，例如，定位解算模块505将普通定位结果通过通道(2)上报给普通应用502，定位解算模块505可以将高精度定位结果通过通道(4)上报给高精度应用501。
在一些实施例中，定位解算模块505在解算出定位结果(普通定位结果或高精度定位结果)后，可以计算该定位结果对于不同卫星的辅助信息(例如，码相位信息、多普勒频率甚至载波相位信息等)。定位解算模块505可以将该辅助信息通过通道(10)发送给GNSS芯片506。GNSS芯片506在接收该辅助信息后，可以利用该辅助信息对卫星信号进行捕获与跟踪，提高GNSS芯片506获取到GNSS观测量数据的精确性。这样，可以进一步提升定位性能。
在本申请的一些实施例中，电子设备100可以通过调用指定接口将高精度的定位结果上报给高精度应用。例如，电子设备100可以调用华为移动服务(huawei mobile service，HMS)中的requestHDLocationUpdate接口或者requestLocationUpdatesEx接口，将高精度的定位结果给高精度应用。上述示例仅仅用于解释本申请，不应构成限定。
下面结合电子设备100中的功能模块，具体介绍本申请实施例中上报定位结果的过程。
图6示出了本申请实施例中提供的一种电子设备100的功能模块示意图。
如图6所示，电子设备100可以包括高精度应用601、普通应用602、自定义加密模块603、坐标转换插件604、定位引擎605、GNSS芯片606、辅助数据服务607和误差添加模块609。可选的，电子设备100还可以包括惯性测量单元608。
其中，高精度应用601可以为提供车道级导航等功能的地图应用。高精度应用601需要获取高精度的定位结果(例如典型精度值小于1m)。普通应用602可以为普通地图导航类、运动健康类、天气类等应用。普通应用602仅需要获取普通精度(例如典型值为3m～5m)的定位结果。
上述定位解算模块可以包括定位引擎605。其中，该定位引擎605可以包括普通定位功能和高精度定位功能。定位引擎605的上报的普通定位结果和高精度定位结果分别通过2个独立的通道上报给上层应用，保证了普通定位结果的上报通道和高精度定位结果的上报通道之间的隔离，即通道级隔离。
当高精度应用601发起高精度定位请求且已通过鉴权后，定位引擎605可以从GNSS芯片606中获取GNSS观测量数据，并通过辅助数据服务607获取定位辅助数据。其中，GNSS观测量数据可以包括伪距观测量、多普勒频率观测量和载波相位观测量，等等。当定位辅助数据包括参考站的观测量数据和位置信息时，定位引擎605可以基于GNSS观测量数据和定位辅助数据完成RTK解算，得到高精度的WGS84坐标。当定位辅助数据中包括有精密星历或星历修正数据、大气改正数等时，定位引擎605可以基于GNSS观测量数据和定位辅助数据完成PPP高精度解算，得到高精度的WGS84坐标。当定位辅助数据中包括有参考站的观测量数据和位置信息、精密星历或星历修正数据、大气改正数等时，定位引擎605可以基于GNSS观测量数据和定位辅助数据完成RTK和PPP的组合方式解算，得到高精度的WGS84坐标。
其中，定位引擎605解算出的高精度定位结果的坐标格式不限于上述WGS84坐标系格式的坐标，还可以其他坐标系中的格式(例如，北京1954坐标系、西安1980坐标系等等)
在本申请实施例中，定位引擎605进行高精度定位不限于上述RTK、PPP定位技术，还可以为实时动态码差分(real time differential，RTD)、事后动态载波相位差分(post processed kinematic，PPK)等其他的差分定位技术，本申请实施例中不限定，当高精度定位引擎605采用不同的差分定位技术时，定位辅助数据中的内容也会有不同。
在一种可能的实现方式中，定位引擎605还可以从惯性测量单元609中获取到惯性测量数据，其中，惯性测量数据包括加速度传感器数据和陀螺仪传感器数据等数据。定位引擎605还可以基于GNSS观测量数据以及惯性测量单元608上报的惯性测量数据，以进一步提高定位的精度和稳定性，得到高精度定位结果。例如RTK定位与VDR技术的组合。
定位引擎605可以将高精度的WGS84坐标上报给坐标转换插件604。坐标转换插件604(例如在中国，由国家测绘局提供的GCJ02偏转插件)可以将高精度的WGS84坐标中添加偏转因子，得到高精度的偏转坐标。
坐标转换插件604可以将高精度的偏转坐标上报给自定义加密模块603。该自定义加密模块603可以通过预设加密算法(例如SM4国密算法)，对高精度的偏转坐标进行加密，得到加密的偏转坐标。
自定义加密模块603可以将加密的偏转坐标上报给高精度应用601。其中，高精度应用601中预置有与该预设加密算法相对应的解密密钥。高精度应用601中可以使用与坐标转换插件604相同的偏转插件，对地图资源包中的坐标添加偏转因子，得到偏转地图资源包。高精度应用601中可以基于与该预设加密算法相对应的解密密钥，从加密的偏转坐标中解密出 高精度的偏转坐标。高精度应用601可以基于高精度的偏转坐标以及偏转地图资源包，进行车道级导航等高精度导航服务。
当普通应用602发起普通定位请求时，定位引擎605可以开启普通定位功能，并从GNSS芯片606中获取伪距观测量和多普勒频率观测量等数据。定位引擎605可以停止从辅助数据服务607上获取定位辅助数据，并基于伪距观测量和多普勒频率观测量等数据完成定位解算，得到普通精度的WGS84坐标。
在一种可能的实现方式中，定位引擎605可以基于伪距观测量和多普勒频率观测量等数据以及惯性测量单元608上报的惯性测量数据(包括加速度传感器数据和陀螺仪传感器数据等数据)完成惯性导航，得到普通定位结果。
定位引擎605得到普通精度的WGS84坐标信息，并将普通精度的WGS84坐标上报给普通应用602。
在一些实施例中，普通应用602可以与高精度应用60同时发起定位请求，由于定位引擎605中无法对两类结果进行分离。因此，定位引擎605在获取到普通应用602发起的定位请求后，可以基于GNSS测量数据和定位辅助数据，解算出WGS84坐标。定位引擎605可以将解算出的WGS84坐标上报给误差添加模块609。该误差添加模块609可以在解算出的WGS84坐标信息中根据高精度状态添加随机误差，得到普通精度的WGS84坐标。
误差添加模块609可以将判断GNSS芯片606解算出WGS84坐标时的精度值是否小于预设精度值(例如，3m)，若是，则误差添加模块609可以在高精度的WGS84坐标信息中添加随机误差，增大高精度的WGS84坐标的精度值(例如可以增大精度值为3m～5m)，得到普通精度的WGS84坐标。若GNSS芯片606解算出WGS84坐标信息时的精度值大于等于预设精度值(例如，3m)时，误差添加模块609可以直接将解算出的WGS84坐标上报给普通应用602。
其中，定位引擎605在基于GNSS测量数据和定位辅助数据，解算出WGS84坐标时可以可以计算出定位精度。例如，定位引擎605可以根据GNSS测量数据和定位辅助数据，通过卡尔曼(Kalman)滤波器解算出WGS84坐标。其中，卡尔曼(Kalman)滤波器的协方差矩阵可提供一个定位精度估计值。
通过本申请实施例提供的上报定位结果的过程，可以实现利用GNSS高精度定位或者结合惯性组合导航技术，在电子设备100中实现亚米级(＜1m)的高精度定位服务，使车道级导航等高精度应用得以实现。并通过权限控制和独立的通道设计，同时提供普通定位和高精度定位两种服务。电子设备100可以通过独立的通道分别上报普通定位和高精度定位结果，并对高精度结果上报的过程中进行坐标转换和加密处理，充分保证了高精度结果输出的安全性，因而可以满足不同国家或地区的政策和法律法规要求。
下面结合电子设备100中的功能模块，具体介绍本申请实施例中另一种上报定位结果的过程。
图7示出了本申请实施例中提供的一种电子设备100的功能模块示意图。
如图7所示，电子设备100可以包括高精度应用701、普通应用702、自定义加密模块703、坐标转换插件704、高精度定位引擎705、GNSS芯片706、辅助数据服务707和普通定 位引擎709。可选的，电子设备100还可以包括惯性测量单元(IMU)708。
其中，高精度应用701可以为提供车道级导航等功能的地图应用。高精度应用701需要获取高精度的定位结果(例如典型精度值小于1m)。普通应用702可以为普通地图导航类、运动健康类、天气类等应用。普通应用702仅需要获取普通精度(例如典型值为3m～5m)的定位结果。
上述定位解算模块可以包括高精度定位引擎705和普通定位引擎709。
其中，普通定位引擎709可用于从GNSS芯片706中获取伪距和多普勒频率等观测量，并基于伪距和多普勒频率等观测量完成定位解算，得到普通精度的WGS84坐标。可选的，普通定位引擎709还可以从惯性测量单元708中获取到惯性测量数据，其中，惯性测量数据中包括有加速度传感器数据和陀螺仪传感器数据。普通定位引擎709可以基于伪距、多普勒频率等观测量以及惯性测量数据完成惯性导航，计算出普通精度的WGS84坐标。普通定位引擎709可以将普通精度的WGS84坐标上报给普通应用702。
高精度定位引擎705可用于从GNSS芯片706中获取GNSS观测量数据，GNSS观测量数据包括伪距、多普勒频率和载波相位等观测量。高精度定位引擎705可以从辅助数据服务707获取定位辅助数据。
在一种可能的实现方式中，定位辅助数据可以包括参考站的观测量数据(包括参考站测量到卫星的伪距、多普勒频率、载波相位等等)和位置信息。高精度定位引擎705可以基于GNSS观测量数据和定位辅助数据完成RTK解算，得到高精度的WGS84坐标。
在一种可能的实现方式中，定位辅助数据可以包括有精密星历或星历修正数据、大气改正数等时。高精度定位引擎705可以基于GNSS观测量数据和定位辅助数据完成PPP高精度解算，得到高精度的WGS84坐标。
在一种可能的实现方式中，定位辅助数据中包括有参考站的观测量数据和位置信息、精密星历或星历修正数据、大气改正数等。高精度定位引擎705可以基于GNSS观测量数据和定位辅助数据完成RTK和PPP的组合方式解算，得到高精度的WGS84坐标。
在一种可能的实现方式中，高精度定位引擎705还可以从惯性测量单元709中获取到惯性测量数据，其中，惯性测量数据包括加速度传感器数据和陀螺仪传感器数据等数据。高精度定位引擎705还可以基于GNSS观测量数据以及惯性测量单元708上报的惯性测量数据，以进一步提高定位的精度和稳定性，得到高精度定位结果。例如RTK定位与VDR技术的组合。
其中，高精度定位引擎705解算出的高精度定位结果的坐标格式不限于上述WGS84坐标系格式的坐标，还可以其他坐标系中的格式(例如，北京1954坐标系、西安1980坐标系等等)。
在本申请实施例中，高精度定位引擎705进行高精度定位不限于上述RTK、PPP定位技术，还可以为RTD、PPK等其他的差分定位技术，本申请实施例中不限定，当高精度定位引擎705采用不同的差分定位技术时，定位辅助数据中也会有不同。
高精度定位引擎705在解算出高精度的WGS84坐标之后，可以将WGS84坐标上报给坐标转换插件704。该坐标转换插件704(例如在中国，有国家测绘局提供的GCJ02偏转插件)可以将高精度的WGS84坐标中添加偏转因子，得到高精度偏转坐标。
坐标转换插件704可以将高精度的偏转坐标上报给自定义加密模块703。该自定义加密模块703可以通过预设加密算法(例如SM4国密算法)，对高精度偏转坐标进行加密，得到 加密偏转坐标。
自定义加密模块703可以将加密的偏转坐标上报给高精度应用701。其中，高精度应用701中预置有与该预设加密算法相对应的解密密钥。高精度应用701中的地图资源包也是经过坐标转换插件处理后的。也即是说，地图资源包中的位置坐标是真实位置坐标经过坐标转换插件添加偏转因子后得到的。高精度应用701中可以基于与该预设加密算法相对应的解密密钥，从加密的偏转坐标中解密出高精度的偏转坐标。高精度应用701可以基于高精度的偏转坐标以及该地图资源包，进行车道级导航等高精度导航服务。
通过本申请实施例提供的上报定位结果的过程，可以实现利用GNSS高精度定位或者结合惯性组合导航技术，在电子设备100中实现亚米级(＜1m)的高精度定位服务，使车道级导航等高精度应用得以实现。并通过权限控制和独立的通道设计，同时提供普通定位和高精度定位两种服务。电子设备100可以通过不同的定位引擎分别计算普通定位结果和高精度定位结果，并对高精度结果上报的过程中进行坐标转换和加密处理，充分保证了高精度结果输出的安全性，因而可以满足不同国家或地区的政策和法律法规对定位结果的安全性要求。
下面介绍本申请实施例中提供的一种定位方法的流程示意图。
图8示出了本申请实施例中提供的一种定位方法的流程示意图。
如图8所示，该方法可以包括：
S801、电子设备100获取上层应用的定位指令。
其中，上层应用可以为普通应用或高精度应用。其中，普通应用可以包括普通地图导航类、运动健康类、天气类等应用。高精度应用可以包括提供车道级导航等功能的地图应用等等。高精度应用可以获取高精度的定位结果(例如典型精度值小于1m)。普通应用仅需要获取普通精度(例如典型值为3m～5m)的定位结果。
例如，电子设备100可以接收到用户针对导航类应用的界面中导航开始控件的输入(例如单击)，响应于该输入，电子设备100可以获取到导航类应用下发的定位指令。又例如，电子设备100可以接收到用户打开天气类应用的输入，响应于该输入，电子设备100可以获取到天气类应用下发的定位指令。
S802、电子设备100可以响应于该定位指令判断上层应用是否为高精度应用。若是，则执行步骤S803至步骤S808。若否，则执行步骤S809至步骤S811。
其中，电子设备100在获取到该定位指令后，可以通过鉴权服务器对该发起定位指令的上层应用进行鉴权。具体的，电子设备100可以在获取到该定位指令后，向鉴权服务器发送鉴权请求，该鉴权请求中包括有该上层应用的标识。鉴权服务器可以从存储的高精度应用白名单中是否有该上层应用的标识，若有，则鉴权服务器可以返回鉴权成功信息给电子设备100，该鉴权成功信息可用于指示该上层应用为高精度应用。其中，该高精度应用白名单中包括有多个高精度应用的标识。当电子设备100接收到鉴权服务器发送的鉴权成功信息后，电子设备100可以确定出该上层应用为高精度应用。
当鉴权服务器确定出高精度应用白名单中没有该上层应用的标识时，鉴权服务器可以返回鉴权失败信息给电子设备100，该鉴权失败信息可用于指示该上层应用为普通应用。当电子设备100接收到鉴权服务器发送的鉴权失败信息后，电子设备100可以确定出该上层应用为普通应用。
在一种可能的实现方式中，高精度应用白名单可以存储于电子设备100上。电子设备100 可以判断高精度应用白名单中是否包括有该上层应用的标识，若有，则电子设备100可以确定出该上层应用为高精度应用；若无，则电子设备100可以确定出该上层应用为普通应用。
S803、电子设备100可以从GNSS芯片上获取第一GNSS观测量数据。
当电子设备100确定出该上层应用为高精度应用时，电子设备100可以从GNSS芯片上获取第一GNSS观测量数据。其中，第一GNSS观测量数据包括伪距观测量、多普勒频率观测量和载波相位观测量，等等。
S804、电子设备100可以获取定位辅助数据。
S805、电子设备100可以基于第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标。
其中，当电子设备100采用RTK定位技术时，电子设备100可以基于第一GNSS观测量数据计算出参考位置。例如，电子设备100可以基于伪距观测量解算出参考位置。电子设备100可以将该参考位置发送给服务器200。服务器200可以基于该参考位置，从N个参考站中确定出与该参考位置距离相近的一个或多个参考站，并将该一个或多个参考站的观测量数据(包括参考站测量到卫星的伪距、多普勒频率、载波相位等等)和位置信息确定为定位辅助数据。服务器200可以将该定位辅助数据发送给电子设备100。
当电子设备100采用PPP高精度定位技术时，电子设备100可以从卫星的导航电文中获取到该定位辅助数据。其中，该定位辅助数据可以包括精密星历或星历修正数据、大气改正数，等等。
当电子设备100采用RTK定位技术和PPP高精度定位技术组合定位时，该定位辅助数据可以包括一个或多个参考站的观测量数据(包括参考站测量到卫星的伪距、多普勒频率、载波相位等等)和位置信息，以及精密星历或星历修正数据、大气改正数。
在本申请实施例中，电子设备100进行高精度定位不限于上述RTK、PPP定位技术，还可以为实时动态码差分(real time differential，RTD)、事后动态载波相位差分(post processed kinematic，PPK)等其他的差分定位技术，本申请实施例中不限定，当采用不同的差分定位技术时，定位辅助数据中的内容也会有不同。
在一种可能的实现方式中，电子设备100可以通过惯性测量单元(IMU)测量电子设备100的惯性测量数据，其中，惯性测量数据包括加速度传感器数据和陀螺仪传感器等数据。电子设备100可以基于第一GNSS观测量数据以及惯性测量数据，进行惯性导航，进一步提高定位的精度和稳定性，得到该高精度定位坐标。例如，RTK定位与VDR技术的组合。
在本申请实施例中，第一坐标系可以为WGS84坐标系、北京1954坐标系、西安1980坐标系等等，但不应构成限定，也可以是其他坐标系。
S806、电子设备100可以通过坐标转换插件在高精度定位坐标中添加偏转因子，得到第二坐标系中的高精度偏转坐标。
具体的，电子设备100可以通过坐标转换插件中的偏转算法，计算出高精度定位坐标对应的偏转因子。然后，电子设备100可以将偏转因子添加至高精度定位坐标中，得到第二坐标系中的高精度偏转坐标。
其中，坐标转换插件可以包括GCJ02坐标转换插件、BD09坐标系转换插件等中的任一一种。第二坐标系为GCJ02坐标系、BD09坐标系等坐标系中的任一种。当坐标转换插件为 GCJ02坐标转换插件时，第二坐标系为GCJ02坐标系中的任一种，当坐标转换插件为GCJ02坐标转换插件时，第二坐标系为GCJ02坐标系中的任一种。
示例性的，电子设备100解算出的高精度定位坐标在WGS84坐标系中可以为“纬度：22.533867387389293，经度：113.918884573070101”。电子设备100通过高精度定位坐标以及坐标转换插件中偏转算法，确定出的偏转因子包括“纬度偏转因子：0.010010110111001，经度偏转因子：0.011000111010011”。电子设备100将偏转因子中的纬度值加到高精度定位坐标的纬度值中，将偏转因子的纬度偏转因子加到高精度定位坐标的经度值中，得到高精度偏转坐标。其中，该高精度偏转坐标可以为“纬度：22.543877497500294，经度：113.929884684080112”。上述示例仅仅用于解释本申请，不应构成限定。
S807、电子设备100可以将高精度偏转坐标通过预设加密算法进行加密，得到加密偏转坐标。
其中，电子设备100可以通过预设加密算法(例如SM4国密算法等等)，对高精度偏转坐标进行加密，得到加密偏转坐标。高精度应用中可以预置有与该预设加密算法相对应的解密密钥。
S808、电子设备100可以将加密偏转坐标上报给上层应用。
当上层应用为高精度应用，该上层应用中预置有与该预设加密算法相对应的解密密钥。电子设备100可以将该加密偏转坐标上报给上层应用后，上层应用可以通过解密密钥对该加密偏转坐标进行解密，得到高精度偏转坐标。该上层应用中可以包括有地图资源包。地图资源包也是经过坐标转换插件处理后的。也即是说，地图资源包中的位置坐标是真实位置坐标经过坐标转换插件添加偏转因子后得到的。该上层应用可以基于高精度的偏转坐标以及该地图资源包，进行车道级导航等高精度导航服务。
S809、电子设备100可以从GNSS芯片上获取第二GNSS观测量数据。
当该上层应用不是高精度应用(即，普通应用)时，电子设备100可以从GNSS芯片上获取第二GNSS观测量数据。其中，第二GNSS观测量数据可以包括伪距和多普勒频率等观测量。
S810、电子设备100可以基于第二GNSS观测量数据解算出普通定位坐标。
在一种可能的实现方式中，电子设备100可以通过惯性测量单元(IMU)测量电子设备100的惯性测量数据，其中，惯性测量数据包括加速度传感器数据和陀螺仪传感器等数据。电子设备100可以基于第二GNSS观测量数据以及惯性测量数据，进行惯性导航，得到该普通定位坐标。
其中，普通定位坐标的定位精度值大于高精度定位坐标的定位精度值，其中，定位精度值越小，定位结果越准确。
S811、电子设备100可以将普通定位坐标上报给上层应用。
上层应用可以基于普通定位坐标以及地图资源包，进行定位导航等服务。
在一些实施例中，电子设备100上可以包括有一个定位引擎，该定位引擎可以包括有普通定位功能和高精度定位功能。当电子设备100确定出该上层应用为高精度应用时，电子设备100可以开启该定位引擎的高精度定位功能，通过该定位引擎基于第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标。电子设备100可以将高精度定位 坐标依次通过添加偏转、加密，再上报给上层应用。
当电子设备100确定出该上层应用为低精度应用时，电子设备100可以开启定位引擎的普通定位功能，并停止获取定位辅助数据。电子设备100可以通过定位引擎基于第二GNSS观测量数据，解算出第一坐标系中的普通定位坐标。电子设备100可以将普通定位坐标上报给上层应用。其中，普通定位坐标的定位精度值小于高精度定位坐标的定位精度值，定位精度值越小，定位结果越准确。
其中，电子设备100中只包括有一个定位引擎的相关内容，可以参考上述图6所示实施例，在此不再赘述。
在一些实施例中，电子设备100上可以包括有普通定位引擎和高精度定位引擎。当电子设备100确定出该上层应用为高精度应用时，电子设备100可以通过高精度定位引擎基于第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标。电子设备100可以将高精度定位坐标依次通过添加偏转、加密，再上报给上层应用。
当电子设备100确定出该上层应用为低精度应用时，电子设备100可以通过普通定位引擎基于第二GNSS观测量数据，解算出第一坐标系中的普通定位坐标。电子设备100可以将普通定位坐标上报给上层应用。其中，普通定位坐标的定位精度值小于高精度定位坐标的定位精度值，定位精度值越小，定位结果越准确。
其中，电子设备100中包括有普通定位引擎和高精度定位引擎的相关内容，可以参考上述图7所示实施例，在此不再赘述。
通过本申请实施例提供的定位方法，可以实现利用GNSS高精度定位或者结合惯性组合导航技术，在电子设备100中实现亚米级(＜1m)的高精度定位服务，使车道级导航等高精度应用得以实现。并通过权限控制和独立的通道设计，同时提供普通定位和高精度定位两种服务。电子设备100可以在对高精度结果上报的过程中进行坐标转换和加密处理，保证了高精度定位结果上报通道与普通定位结果的上报通道之间的隔离，保证了高精度结果输出的安全性，因而可以满足不同国家或地区的政策和法律法规对定位结果的安全性要求。
下面介绍本申请实施例中提供的另一种定位方法的流程示意图。
在一些应用场景中，电子设备100上可以包括有一个定位引擎。电子设备100上可以包括高精度应用和普通应用。高精度应用可以获取高精度的定位结果(例如典型精度值小于1m)。普通应用仅需要获取普通精度(例如典型值为3m～5m)的定位结果。当电子设备100同时获取到高精度应用和普通应用的定位指令(即，获取高精度应用的定位指令和普通应用的定位指令的时间间隔小于预设时间阈值(例如1秒))时，电子设备100可以先开启定位引擎的高精度定位功能，解算出高精度定位坐标。电子设备100依次将高精度定位坐标添加偏转因子、加密，再上报给高精度应用。电子设备100可以将高精度定位坐标中添加随机误差，降低定位精度值，再上报给普通应用。这样，保证了高精度结果输出的安全性，因而可以满足不同国家或地区的政策和法律法规要求。
图9示出了本申请实施例中提供的一种定位方法的流程示意图。
如图9所示，该方法可以包括：
S901、电子设备100可以同时获取到第一应用发起的第一定位指令和第二应用发起的第二定位指令。
S902、电子设备100可以确定出第一应用为高精度应用、第二应用为普通应用。
其中，电子设备100在检测到获取第一定位指令的时间与获取第二定位指令的时间之间的间隔小于预设时间(例如1秒)时，电子设备100可以判定同时获取到第一定位指令和第二定位指令。
其中，电子设备100在获取到第一应用的第一定位指令时，可以通过鉴权服务器对该第一应用进行鉴权。具体的，电子设备100可以在获取到该第一定位指令后，向鉴权服务器发送第一鉴权请求，该第一鉴权请求中包括有该第一应用的标识。鉴权服务器可以从存储的高精度应用白名单中是否有该第一应用的标识，若有，则鉴权服务器可以返回第一鉴权成功信息给电子设备100，该第一鉴权成功信息可用于指示该第一应用为高精度应用。其中，该高精度应用白名单中包括有多个高精度应用的标识。当电子设备100接收到鉴权服务器发送的第一鉴权成功信息后，电子设备100可以确定出该上层应用为高精度应用。
电子设备100在获取到第二应用的第二定位指令时，可以通过鉴权服务器对该第二应用进行鉴权。具体的，电子设备100可以在获取到该第二定位指令后，向鉴权服务器发送第二鉴权请求，该第二鉴权请求中包括有该第二应用的标识。鉴权服务器可以从存储的高精度应用白名单中是否有该第二应用的标识，若无，则鉴权服务器可以返回第一鉴权失败信息给电子设备100，该第一鉴权失败信息可用于指示该第二应用为普通应用。其中，该高精度应用白名单中包括有多个高精度应用的标识。当电子设备100接收到鉴权服务器发送的第一鉴权失败信息后，电子设备100可以确定出该第二应用为高精度应用。
在一种可能的实现方式中，高精度应用白名单可以存储于电子设备100上。电子设备100可以判断高精度应用白名单中是否包括有该第一应用的标识，若有，则电子设备100可以确定出该第一应用为高精度应用。电子设备100可以判断高精度应用白名单中是否包括有该第二应用的标识，若无，则电子设备100可以确定出该第二应用为高精度应用。
具体的，针对高精度应用和普通应用的文字描述，可以参考前述图8所示实施例中的步骤S801，在此不再赘述。
S903、电子设备100可以从GNSS芯片上获取第一GNSS观测量数据。
具体内容，可以参考前述图8所示实施例中的步骤S803，在此不再赘述。
S904、电子设备100可以获取定位辅助数据。
具体内容，可以参考前述图8所示实施例中的步骤S804。
S905、电子设备100可以基于第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标。
其中，电子设备100上可以只包括有一个定位引擎。其中，该定位引擎可以包括有高精度定位功能和低精度定位功能。当电子设备100同时接收到第一定位指令和第二定位指令时，电子设备100可以开启定位引擎的高精度定位功能。
具体有关定位引擎解算出高精度定位功能的过程可以参考前述图8所示实施例中的步骤S805，在此不再赘述。
在电子设备100解算出高精度定位坐标后，可以执行步骤S906至步骤S908，同时执行步骤S909至步骤S910。
S906、电子设备100可以通过坐标转换插件在高精度定位坐标中添加偏转因子，得到第二坐标系中的高精度偏转坐标。
具体内容，可以参考前述图8所示实施例中的步骤S806，在此不再赘述。
S907、电子设备100可以将高精度偏转坐标通过预设加密算法进行加密，得到加密偏转坐标。
具体内容，可以参考前述图8所示实施例中的步骤S807，在此不再赘述。
S908、电子设备100可以将加密偏转坐标上报给第一应用。
具体内容，可以参考前述图8所示实施例中的步骤S808，在此不再赘述。
S909、电子设备100可以在高精度定位坐标中添加随机误差，得到普通定位坐标。
电子设备100可以通过随机算法生成随机误差值，并将随机误差值加入到高精度定位坐标中，得到普通定位坐标。
例如，电子设备100解算出的高精度定位坐标在WGS84坐标系中可以为“纬度：22.533867387389293″，经度：113.918884573070101″”。电子设备100通过随机算法生成的随机误差值可以包括“纬度误差：0.000000056，经度误差：0.000000023”。电子设备100将随机误差值中的纬度误差值加到高精度定位坐标的纬度值中，将随机误差值中的经度误差值加到高精度定位坐标的经度值中，得到普通定位坐标。其中，该普通定位坐标可以为“纬度：22.533867443389293″，经度：113.918884596070101″”。
S910、电子设备100可以将普通定位坐标上报给第二应用。
第二应用可以基于普通定位坐标以及地图资源包，进行定位导航等服务。
下面结合应用场景，介绍本申请实施例中提供的一种定位方法。
在一些应用场景中，电子设备100上可以包括地图应用，其中，地图应用可以为高精度应用。电子设备100在接收到用户针对导航应用中的导航操作后，电子设备100可以获取到第一GNSS观测量数据和定位辅助数据，并基于第一GNSS观测量数据和定位辅助数据解算出高精度定位坐标。电子设备100可以将高精度定位坐标依次经过添加偏转因子、加密，得到加密的高精度偏转坐标，并上报给该地图应用。该地图应用可以解密出该高精度偏转坐标，并完成车道级导航等服务。
示例性的，如图10A所示，电子设备100可以显示有主屏幕(home screen)的界面1010，该界面1010中显示了一个放置有应用图标的页面，该页面包括多个应用图标(例如，天气应用图标、股票应用图标、计算器应用图标、设置应用图标、邮件应用图标、音乐应用图标、视频应用图标、浏览器应用图标、地图应用图标1011、图库应用图标、备忘录应用图标、语音助手应用图标，等等)。可选的，多个应用图标下方还显示包括有页面指示符，以表明home screen上页面总数，以及当前显示的页面与其他页面的位置关系。例如，home screen的界面1010可以包括三个页面，该页面指示符中为白点可以表示当前显示页面为三个页面中最右边的一个页面。进一步可选的，页面指示符的下方有多个托盘图标(例如拨号应用图标、信息应用图标、联系人应用图标、相机应用图标)，托盘图标在页面切换时保持显示。
电子设备100可以接收用户针对地图应用图标1011的输入操作(例如单击)，响应于该输入操作，电子设备100可以显示如图10B所示的地图应用界面1020。
如图10B所示，该地图应用界面1020可以包括地址搜索输入框1021、搜索控件1022、地图1023，电子设备100在地图1023中的位置标记1024。其中，该地址搜索输入框1021可用于接收用户输入的地址名称。该搜索控件1022可用于触发电子设备100显示用户输入的与 地址名称对应的位置信息。
电子设备100可以接收用户在地址搜索输入框1021中输入的地址名称(例如，“深圳野生动物园”)，接着，电子设备100可以接收到用户针对搜索控件1022的输入操作(例如单击)，响应于该输入操作，电子设备100可以在地图1023中显示出该地址名称对应的位置标记以及该地址名称对应的位置信息。
具体的，如图10C所示，电子设备100在接收到用户输入地址名称(例如，“深圳市野生动物园”)并搜索该地址名称对应的位置信息后，电子设备100可以在地图1023上显示出该地址名称对应位置标记1025以及该地址名称对应的详情页1030。其中，该地址名称的详情页1030包括有该地址名称对应的位置信息1031(例如，“广东省-深圳市-南山区-西丽湖路4065号”等)、路线控件1032、导航控件1033等等。该路线控件1032可用于触发电子设备100显示电子设备100所处位置至该地址名称对应位置的路线信息。该导航控件1033可用于触发电子设备100显示电子设备100所处位置至该地址名称的导航信息。
电子设备100可以接收用户针对导航控件1033的输入操作(例如单击)，响应于该输入操作，显示如图10D所示的导航界面1040。电子设备100还可以响应于该针对导航控件1033的输入操作，通过GNSS芯片获取第一GNSS观测量信息，并通过服务器200或基站或卫星播发的定位辅助数据。电子设备100可以基于第一GNSS观测量信息和定位辅助数据，确定出高精度定位坐标。电子设备100可以将高精度定位坐标依次经过添加偏转因子、加密，得到加密的高精度偏转坐标，并上报给该地图应用。电子设备100可以基于高精度偏转坐标以及地图资源包确定出在导航界面1040上显示的导航信息。其中，该导航信息包括路线信息、电子设备100的速度信息、车道信息等等。
如图10D所示，该导航界面1040可以包括有地图1041、位置标记1042、位置标记1025、路线1043、距离和时间信息1044、退出控件1045、更多控件1046等等。其中，该位置标记1042用于表示电子设备100在地图1041中的位置。该位置标记1042上可以显示有电子设备100的速度信息(例如，此时为“0km/h”)。该位置标记1025可用于表示目的地(例如“深圳市野生动物园”)在地图1041中的位置。该路线1043可用于表示电子设备100所处位置到目的地的路线信息。该距离和时间信息1044用于指示电子设备100距离目的地的距离(例如“剩余15公里”)以及到达目的地的预估时间(例如“预计8点28到达”)。该退出控件13456可用于触发电子设备100结束导航。该更多控件1346可用于触发电子设备100显示更多与导航相关的功能控件。电子设备100还可以在导航界面1340上显示提示信息1046，该提示信息1046用于提示用户电子设备100正在确定出在导航界面1040上显示的导航信息。
如图10E所示，电子设备100在确定出导航信息后，可以在导航界面1040上显示导航提示框1051。该导航提示框1051中显示导航信息。该导航信息包括电子设备100所在车道1052、车道路线信息1053、行驶方向(例如“请保持直行，往贝尔路方向”)。
上述示例，仅仅用于解释本申请，不应构成限定。
请参考图11，其示出了本申请实施例提供的一种电子设备100的另一结构示意图。
如图11所示，该电子设备100包括：处理器1101、接收器1102、发射器1103、存储器1104、GNSS芯片1105和总线1106。处理器1101包括一个或者多个处理核心，处理器1101通过运行软件程序以及模块，从而执行各种功能的应用以及信息处理。接收器1102和发射器1103可以实现为一个通信组件，该通信组件可以是一块基带芯片。存储器1104通过总线1106和处理器1101相连。存储器1104可用于存储至少一个程序指令，处理器1101用于执行至少 一个程序指令，以实现上述实施例的技术方案。其实现原理和技术效果与上述方法相关实施例类似，此处不再赘述。
在一些实施例中，电子设备100还可以包括惯性测量单元(图11中未示出)，针对惯性测量单元的文字描述可以参考前述实施例，在此不再赘述。
在本申请实施例中，处理器1101可以是通用处理器、数字信号处理器、专用集成电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
在本申请实施例中，存储器1104可以是非易失性存储器，比如硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SS)等，还可以是易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)。存储器是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，不限于此。
本申请实施例中的存储器1104还可以是电路或者其它任意能够实现存储功能的装置，用于存储程序指令和/或数据。本申请各实施例提供的方法中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行所述计算机程序指令时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以是通用计算机、专用计算机、计算机网络、网络设备、用户设备或者其他可编程装置。所述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber line，DSL)或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。所述计算机可读存储介质可以是计算机可以存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。所述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，数字视频光盘(digital video disc，DWD)、或者半导体介质(例如，SSD)等。
以上所述，以上实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围。

Claims (24)

  1. 一种定位方法，其特征在于，包括：
    电子设备获取到第一应用的第一定位指令；
    响应于所述第一定位指令，所述电子设备解算出第一坐标系中的高精度定位坐标；
    所述电子设备在高精度定位坐标中添加偏转因子，并通过预设加密算法加密，得到加密偏转坐标；
    所述电子设备将所述加密偏转坐标上报给所述第一应用。
  2. 根据权利要求1所述的方法，其特征在于，所述电子设备解算出第一坐标系中的高精度定位坐标，具体包括：
    所述电子设备通过全球卫星导航系统GNSS芯片获取到第一GNSS观测量数据；
    所述电子设备获取定位辅助数据；
    所述电子设备基于所述第一GNSS观测量数据和所述定位辅助数据，解算出所述第一坐标系中的高精度定位坐标。
  3. 根据权利要求1所述的方法，其特征在于，所述电子设备在高精度定位坐标中添加偏转因子，并通过预设加密算法加密，得到加密偏转坐标，具体包括：
    所述电子设备在所述高精度定位坐标中添加偏转因子，得到第二坐标系中的高精度偏转坐标；
    所述电子设备将所述高精度偏转坐标通过预设加密算法进行加密，得到所述加密偏转坐标。
  4. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    所述电子设备获取到第二应用的第二定位指令；
    响应于所述第二定位指令，所述电子设备解算出所述第一坐标系中的普通定位坐标；
    所述电子设备将所述普通定位坐标上报给所述第二应用。
  5. 根据权利要求4所述的方法，其特征在于，所述电子设备解算出所述第一坐标系中的普通定位坐标，具体包括：
    所述电子设备通过所述GNSS芯片获取到第二GNSS观测量数据；
    所述电子设备基于所述第二GNSS观测量数据，解算出所述第一坐标系中的所述普通定位坐标。
  6. 根据权利要求4或5所述的方法，其特征在于，所述电子设备包括高精度定位引擎和普通定位引擎；所述电子设备解算出第一坐标系中的高精度定位坐标，具体包括：
    所述电子设备通过所述高精度定位引擎解算出所述第一坐标系中的所述高精度定位坐标；
    所述电子设备解算出所述第一坐标系中的普通定位坐标，具体包括：
    所述电子设备通过所述普通定位引擎解算出所述第一坐标系中的所述普通定位坐标。
  7. 根据权利要求1或2所述的方法，其特征在于，所述电子设备包括定位引擎，所述定 位引擎包括高精度定位功能和普通定位功能；
    所述电子设备解算出所述第一坐标系中的高精度定位坐标，具体包括：
    所述电子设备开启所述定位引擎的高精度定位功能，通过所述定位引擎解算出所述第一坐标系中的所述高精度定位坐标；
    所述方法还包括：
    所述电子设备获取到第二应用的第二定位指令；
    当获取到所述第一定位指令的时间与获取到所述第二定位指令的时间之差小于预设时长时，所述电子设备在所述高精度定位坐标中添加随机误差，得到普通定位坐标，所述普通定位坐标的精度值大于所述高精度定位坐标的精度值；
    所述电子设备将所述普通定位坐标上报给所述第二应用。
  8. 根据权利要求7所述的方法，其特征在于，所述方法还包括：
    当获取到所述第一定位指令的时间与获取到所述第二定位指令的时间差大于等于所述预设时长时，所述电子设备开启所述定位引擎的普通定位功能，并通过所述GNSS芯片获取到第二GNSS观测量数据；
    所述电子设备通过所述定位引擎基于所述第二GNSS观测量数据，解算出所述普通定位坐标。
  9. 根据权利要求7所述的方法，其特征在于，在所述电子设备通过所述定位引擎解算出所述第一坐标系中的所述高精度定位坐标时，所述方法还包括：
    所述电子设备确定出所述高精度定位坐标的定位精度值；
    所述方法还包括：
    当获取到所述第一定位指令的时间与获取所述第二定位指令的时间之差小于所述预设时长，且所述高精度定位坐标的定位精度值小于预设精度值时，所述电子设备在所述高精度定位坐标中添加随机误差，得到普通定位坐标，所述普通定位坐标的精度值大于所述高精度定位坐标的精度值；
    当获取到所述第一定位指令的时间与获取到所述第二定位指令的时间之差小于所述预设时间，且所述高精度定位坐标的定位精度值大于等于所述预设精度值时，所述电子设备将所述高精度定位坐标确定为所述普通定位坐标。
  10. 根据权利要求2所述的方法，其特征在于，所述第一GNSS观测量数据包括伪距观测量和多普勒频率观测量中的一种或多种以及载波相位观测量；
    在所述电子设备获取定位辅助数据之前，所述方法还包括：
    所述电子设备基于所述第一GNSS观测量数据，解算出概率位置；
    所述电子设备将所述概率位置发送给服务器；
    所述电子设备获取定位辅助数据，具体包括：
    所述电子设备获取到所述服务器基于所述概率位置以及N个参考站观测卫星时的观测量数据以及位置信息确定出的所述定位辅助数据，所述定位辅助数据包括参考站的观测量数据和位置信息，N为正整数；
    所述电子设备基于所述第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标，具体包括：
    所述电子设备基于所述第一GNSS观测量数据和所述定位辅助数据，通过实时动态RTK定位方式解算出所述第一坐标系中的所述高精度定位坐标。
  11. 根据权利要求2所述的方法，其特征在于，所述第一GNSS观测量数据包括伪距观测量和多普勒频率观测量中的一种或多种以及载波相位观测量；
    所述电子设备获取定位辅助数据，具体包括：
    所述电子设备接收到移动通信基站或卫星播放的所述定位辅助数据，所述定位辅助数据包括精密星历或星历修正数据、大气改正数中的一个或多个；
    所述电子设备基于所述第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标，具体包括：
    所述电子设备基于所述第一GNSS观测量数据和所述定位辅助数据，通过精密单点PPP定位方式解算出所述第一坐标系中的所述高精度定位坐标。
  12. 根据权利要求5所述的方法，其特征在于，所述第二GNSS观测量数据包括伪距观测量和多普勒频率观测量中的一种或多种。
  13. 根据权利要求2或10或11所述的方法，其特征在于，在所述电子设备获取到所述第一定位指令后，所述方法还包括：
    所述电子设备可以通过惯性测量单元获取到惯性测量数据，所述惯性测量数据包括所述电子设备的加速度传感器数据和陀螺仪传感器数据；
    所述电子设备基于所述第一GNSS观测量数据和定位辅助数据，解算出第一坐标系中的高精度定位坐标，具体包括：
    所述电子设备基于所述第一GNSS观测量数据和定位辅助数据，以及所述惯性测量数据，进行惯性导航，解算出所述第一坐标系中的所述高精度定位坐标。
  14. 根据权利要求5或12所述的方法，其特征在于，在所述电子设备获取到所述第二定位指令后，所述方法还包括：
    所述电子设备可以通过惯性测量单元获取到惯性测量数据，所述惯性测量数据包括所述电子设备的加速度传感器数据和陀螺仪传感器数据；
    所述电子设备基于所述第二GNSS观测量数据，解算出所述第一坐标系中的普通定位坐标，具体包括：
    所述电子设备基于所述第二GNSS观测量数据，以及所述惯性测量数据，进行惯性导航，解算出所述第一坐标系中的所述普通定位坐标。
  15. 根据权利要求1所述的方法，其特征在于，在所述电子设备将所述加密偏转坐标上报给所述第一应用后，所述方法还包括：
    所述电子设备通过第一应用中与所述预设加密算法对应的解密密钥，对所述加密偏转坐标进行解密，得到所述高精度偏转坐标；
    所述电子设备通过所述第一应用中提供的地图资源包以及所述高精度偏转坐标进行车道级导航。
  16. 根据权利要求2所述的方法，其特征在于，所述电子设备通过GNSS芯片获取到第一GNSS观测量数据，具体包括：
    所述电子设备对所述第一应用进行鉴权，当对所述第一应用鉴权成功后，所述电子设备通过所述GNSS芯片获取到所述第一GNSS观测量数据。
  17. 根据权利要求16所述的方法，其特征在于，所述电子设备对所述第一应用进行鉴权，具体包括：
    所述电子设备向鉴权服务器发送鉴权请求，所述鉴权请求包括所述第一应用的标识；
    当所述电子设备接收到所述鉴权服务器发送的鉴权成功信息时，所述电子设备对所述第一应用鉴权成功。
  18. 根据权利要求16所述的方法，其特征在于，所述电子设备对所述第一应用进行鉴权，具体包括：
    所述电子设备判断高精度应用白名单中是否包括有所述第一应用的标识，若是，则所述电子设备对所述第一应用鉴权成功，其中，所述高精度应用白名单中包括有一个或多个高精度应用的标识。
  19. 根据权利要求1所述的方法，其特征在于，所述第一坐标系为世界大地测量系统WGS84坐标系，所述第二坐标系为国测局GCJ02坐标系。
  20. 根据权利要求1所述的方法，其特征在于，所述预设加密算法包括：SM4国密算法。
  21. 一种电子设备，其特征在于，包括：一个或多个处理器，GNSS芯片、一个或多个存储器；其中，一个或多个存储器与一个或多个处理器耦合，所述一个或多个存储器用于存储计算机程序代码，所述计算机程序代码包括计算机指令，当所述一个或多个处理器在执行所述计算机指令时，使得所述电子设备执行如权利要求1-20中任一项所述的方法。
  22. 一种芯片系统，应用于电子设备，其特征在于，所述芯片系统包括应用处理器和GNSS芯片，所述芯片系统执行如权利要求1-20中任一项所述的方法。
  23. 一种计算机存储介质，其特征在于，包括计算机指令，当所述计算机指令在电子设备上运行时，使得所述电子设备执行如权利要求1-20中任一项所述的方法。
  24. 一种计算机程序产品，其特征在于，当所述计算机程序产品在电子设备上运行时，使得所述电子设备执行如权利要求1-20中任一项所述的方法。
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