Terminal positioning method and device, computer equipment and storage medium

Abstract

The invention relates to a terminal positioning method and device, computer equipment and a storage medium. The method comprises the following steps: obtaining general coordinates of a terminal in anobservation area formed by a plurality of reference stations, determining virtual reference stations corresponding to the general coordinates, obtaining delay influence factors corresponding to the observation area according to the positions of the reference stations and the atmospheric delay characteristics of the reference stations, and obtaining the delay influence factors corresponding to theobservation area; according to the positions of the virtual reference stations and the delay influence factors, acquiring an atmospheric delay characteristic of the virtual reference station, determining a virtual observation value corresponding to the virtual reference station according to the atmospheric delay characteristic of the virtual reference station, and sending the virtual observation value to the terminal, so the terminal performs positioning according to the virtual observation value. Compared with a conventional positioning method of forming a triangulation network based on a plurality of reference stations, the scheme utilizes the atmospheric delay characteristics and delay influence factors of the virtual reference stations to obtain the virtual observation value for positioning the terminal, and the effect of improving the positioning precision is achieved.

Description

technical field [0001] The present application relates to the technical field of satellite navigation, in particular to a terminal positioning method, device, computer equipment and storage medium. Background technique [0002] The early GNSS positioning technology is a pseudo-range single-point positioning based on pseudo-range observations. However, due to various errors, the accuracy can only be on the order of 10m. In order to improve the accuracy, differential technology has emerged. At present, real-time dynamic carrier phase differential technology is widely used. The accuracy can reach centimeter level, but the working distance is limited. In view of this, network RTK technology came into being. [0003] VRS (Virtual Reference Station, Virtual Reference Station) technology is the most mature and widely used network RTK technology at present. VRS technology is a technology for positioning by building a triangular network through multiple reference stations. The main t...

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Problems solved by technology

[0002] The early GNSS positioning technology is a pseudo-range single-point positioning based on pseudo-range observations. However, due to various errors, the accuracy can only be on the order of 10m

In order to improve the accuracy, differential technology has emerged. At present, real-time dynamic carrier phase differential technology is widely used. The accuracy can reach centimeter level, but the working distance is limited. In view of this, network RTK technology came into being.

[0003] VRS (Virtual Reference Station, Virtual Reference Station) technology is the most mature and widely used network RTK technology at present. VRS technology is a technology for positioning by building a triangular network through multiple reference stations. The main technology of network RTK is to use it in the triangular network The linear interpolation model interpolates the relevant parameters here to provide RTK services. However, some or all of the reference stations in the triangulation network constructed from this only support the GPS / GLONASS dual system, which makes other satellite systems such as BDS / GALIEO unusable. , it cannot provide accurate positioning when the baseline is long, and when the user is not in the triangulation network, the atmospheric error correction value interpolated by the linear interpolation model will deviate, thus affecting the positioning

[0004] Therefore, the current positioning method has the defect of low positioning accuracy.

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