Self-differential positioning method and device, mobile equipment and storage medium
A technology of mobile equipment and positioning methods, which is applied in the direction of measuring devices, satellite radio beacon positioning systems, instruments, etc., and can solve the problems of inflexible application, poor coverage of mobile communication networks, and small coverage of single stations.
Pending Publication Date: 2021-04-13
GUANGZHOU XAIRCRAFT TECH CO LTD
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Problems solved by technology
However, on the one hand, with the development of communication networks, the communication bandwidth is getting wider and wider, the coverage of a single station is getting smaller and the cost is getting higher; on the other hand, the coverage of mobile communication networks in remote areas will become worse and worse, and some areas even There is no stable mobile communication network coverage, which limits the use of traditional RTK and cannot be flexibly applied in various scenarios
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[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. The components of the embodiments of the invention generally described and illustrated in the figures herein may be arranged and designed in a variety of different configurations.
[0023] Accordingly, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art wi...
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The invention provides a self-differential positioning method and device, a mobile device and a storage medium. The method comprises the steps that: a pseudo-range measurement value of a mobile device relative to a satellite at a current moment and a first differential correction value corresponding to a historical moment are obtained, the coordinates of the historical position, corresponding to the historical moment, of the mobile device are corrected through the first differential correction value, wherein the historical position is a virtual reference position of the current position of the mobile device; and the current position coordinates of the mobile device are determined according to the pseudo-range measurement value and the first differential correction value. According to the self-differential positioning method provided by the invention, a reference station and a mobile communication network do not need to be set up, so that the complexity cost of the system is reduced, and the self-differential positioning method can be applied to other requirements for short-term relative positioning accuracy in regions without RTK support conditions or can be used as a supplement under an RTK technology to solve the problem of RTK signal transmission interruption and realize accurate positioning.
Description
technical field [0001] The present invention relates to the technical field of mobile devices, in particular to a self-differential positioning method and device, a mobile device and a storage medium. Background technique [0002] With the advancement of agricultural science and technology, in order to meet the quality of plant protection, plant protection equipment is required to have high relative positioning accuracy. Therefore, plant protection drones with autonomous route planning functions are widely used in the plant protection industry. [0003] At present, the navigation and positioning of plant protection drones mainly rely on RTK (Real-time kinematic, RTK for short) satellite positioning technology. However, based on RTK satellite positioning technology, it is necessary to establish a reference base station and a communication network between the reference station and the mobile station. However, on the one hand, with the development of the communication network,...
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Login to View More IPC IPC(8): G01S19/41G01S19/37
CPCG01S19/41G01S19/37
Inventor 陈凌伟
Owner GUANGZHOU XAIRCRAFT TECH CO LTD